Surgical end effectors having angled tissue-contacting surfaces

ABSTRACT

Surgical end effectors are disclosed having angled tissue-contacting surfaces. The end effectors may have a first jaw member that is movable relative to a second jaw member between an open position and a closed position. The first jaw member may have a first positively-angled tissue-contacting surface. The second jaw member may have a second positively-angled tissue-contacting surface. At least one of the jaw members may have at least one active electrode configured to deliver RF energy to tissue located between the first jaw member and the second jaw member when in the closed position.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 13/536,326, entitledSURGICAL END EFFECTORS HAVING ANGLED TISSUE-CONTACTING SURFACES, filedJun. 28, 2012, which issued on Mar. 22, 2016 as U.S. Pat. No. 9,289,256,the entire disclosure of which is hereby incorporated by referenceherein.

BACKGROUND

Over the years a variety of minimally invasive robotic (or“telesurgical”) systems have been developed to increase surgicaldexterity as well as to permit a surgeon to operate on a patient in anintuitive manner. Many of such systems are disclosed in the followingU.S. patents which are each herein incorporated by reference in theirrespective entirety: U.S. Pat. No. 5,792,135, entitled ARTICULATEDSURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITHENHANCED DEXTERITY AND SENSITIVITY, U.S. Pat. No. 6,231,565, entitledROBOTIC ARM DLUS FOR PERFORMING SURGICAL TASKS, U.S. Pat. No. 6,783,524,entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTINGINSTRUMENT, U.S. Pat. No. 6,364,888, entitled ALIGNMENT OF MASTER ANDSLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS, U.S. Pat. No.7,524,320, entitled MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTICSURGICAL TOOLS, U.S. Pat. No. 7,691,098, entitled PLATFORM LINK WRISTMECHANISM”, U.S. Pat. No. 7,806,891, entitled REPOSITIONING ANDREORIENTATION OF MASTER/SLAVE RELATIONSHIP IN MINIMALLY INVASIVETELESURGERY, and U.S. Pat. No. 7,824,401, entitled SURGICAL TOOL WITHWRISTED MONOPOLAR ELECTROSURGICAL END EFFECTORS. Many of such systems,however, have in the past been unable to generate the magnitude offorces required to effectively cut and fasten tissue. In addition,existing robotic surgical systems are limited in the number of differenttypes of surgical devices that they may operate.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of this invention, and the manner ofattaining them, will become more apparent and the invention itself willbe better understood by reference to the following description ofexample embodiments of the invention taken in conjunction with theaccompanying drawings, wherein:

Various example embodiments are described herein by way of example inconjunction with the following FIGS. wherein:

FIG. 1 is a perspective view of one embodiment of a robotic controller.

FIG. 2 is a perspective view of a robotic surgical arm cart/manipulatorof a robotic system operably supporting a plurality of surgical toolembodiments.

FIG. 3 is a side view of one embodiment of the robotic surgical armcart/manipulator depicted in FIG. 2.

FIG. 4 is a perspective view of a cart structure with positioninglinkages for operably supporting robotic manipulators that may be usedwith surgical tool embodiments.

FIG. 5 is a perspective view of a surgical tool embodiment and asurgical end effector embodiment.

FIG. 6 is a perspective view of one embodiment of an electrosurgicaltool in electrical communication with a generator

FIG. 7 shows a perspective view of one embodiment of the end effector ofthe surgical tool of FIG. 6 with the jaw members open and the distal endof an axially movable member in a retracted position.

FIG. 8 shows a perspective view of one embodiment of the end effector ofthe surgical tool of FIG. 6 with the jaw members closed and the distalend of an axially movable member in a partially advanced position.

FIG. 9 is a perspective view of one embodiment of the axially moveablemember of the surgical tool of FIG. 6.

FIG. 10 is a section view of one embodiment of the electrosurgical endeffector of the surgical tool of FIG. 6.

FIG. 11 is an exploded assembly view of one embodiment of an adapter andtool holder arrangement for attaching various surgical tool embodimentsto a robotic system.

FIG. 12 is a side view of one embodiment of the adapter shown in FIG.11.

FIG. 13 is a bottom view of one embodiment of the adapter shown in FIG.11.

FIG. 14 is a top view of one embodiment of the adapter of FIGS. 11 and12.

FIG. 15 is a partial bottom perspective view of one embodiment of asurgical tool.

FIG. 16 is a front perspective view of one embodiment of a portion of asurgical tool with some elements thereof omitted for clarity.

FIG. 17 is a rear perspective view of one embodiment of the surgicaltool of FIG. 16.

FIG. 18 is a top view of one embodiment of the surgical tool of FIGS. 16and 17.

FIG. 19 is a partial top view of one embodiment of the surgical tool ofFIGS. 16-18 with the manually actuatable drive gear in an unactuatedposition.

FIG. 20 is another partial top view of one embodiment of the surgicaltool of FIGS. 16-19 with the manually actuatable drive gear in aninitially actuated position.

FIG. 21 is another partial top view of one embodiment of the surgicaltool of FIGS. 16-20 with the manually actuatable drive gear in anactuated position.

FIG. 22 is a rear perspective view of another surgical tool embodiment.

FIG. 23 is a side elevational view of one embodiment of the surgicaltool of FIG. 22.

FIG. 24 is a cross-sectional view of one embodiment of a portion of anarticulation joint and end effector.

FIG. 24A illustrates one embodiment of the shaft assembly andarticulation joint of FIG. 24 showing connections between distal cablesections and proximal cable portions.

FIG. 25 is an exploded assembly view of one embodiment of a portion ofthe articulation joint and end effector of FIG. 24.

FIG. 26 is a partial cross-sectional perspective view of one embodimentof the articulation joint and end effector portions depicted in FIG. 25.

FIG. 27 is a partial perspective view of an end effector and drive shaftassembly embodiment.

FIG. 28 is a partial side view of one embodiment of a drive shaftassembly.

FIG. 29 is a perspective view of one embodiment of a drive shaftassembly.

FIG. 30 is a side view of one embodiment of the drive shaft assembly ofFIG. 29.

FIG. 31 is a perspective view of one embodiment of a composite driveshaft assembly.

FIG. 32 is a side view of one embodiment of the composite drive shaftassembly of FIG. 31.

FIG. 33 is another view of one embodiment of the drive shaft assembly ofFIGS. 29 and 30 assuming an arcuate or “flexed” configuration.

FIG. 33A is a side view of one embodiment of a drive shaft assemblyassuming an arcuate or “flexed” configuration.

FIG. 33B is a side view of one embodiment of another drive shaftassembly assuming an arcuate or “flexed” configuration.

FIG. 34 is a perspective view of a portion of another drive shaftassembly embodiment.

FIG. 35 is a top view of the drive shaft assembly embodiment of FIG. 34.

FIG. 36 is another perspective view of the drive shaft assemblyembodiment of FIGS. 34 and 35 in an arcuate configuration.

FIG. 37 is a top view of the drive shaft assembly embodiment depicted inFIG. 36.

FIG. 38 is a perspective view of another drive shaft assemblyembodiment.

FIG. 39 is another perspective view of the drive shaft assemblyembodiment of FIG. 38 in an arcuate configuration.

FIG. 40 is a top view of the drive shaft assembly embodiment of FIGS. 38and 39.

FIG. 41 is a cross-sectional view of the drive shaft assembly embodimentof FIG. 40.

FIG. 42 is a partial cross-sectional view of another drive shaftassembly embodiment.

FIG. 43 is another cross-sectional view of the drive shaft assemblyembodiment of FIG. 42.

FIG. 44 is another cross-sectional view of a portion of another driveshaft assembly embodiment.

FIG. 45 is another cross-sectional view of one embodiment of the driveshaft assembly of FIG. 44.

FIG. 46 is a perspective view of another surgical tool embodiment.

FIG. 47 is a cross-sectional perspective view of the surgical toolembodiment of FIG. 46

FIG. 48 is a cross-sectional perspective view of a portion of oneembodiment of an articulation system.

FIG. 49 is a cross-sectional view of one embodiment of the articulationsystem of FIG. 48 in a neutral position.

FIG. 50 is another cross-sectional view of one embodiment of thearticulation system of FIGS. 48 and 49 in an articulated position.

FIG. 51 is a side elevational view of a portion of one embodiment of thesurgical tool of FIGS. 46-47 with portions thereof omitted for clarity.

FIG. 52 is a rear perspective view of a portion of one embodiment of thesurgical tool of FIGS. 46-47 with portions thereof omitted for clarity.

FIG. 53 is a rear elevational view of a portion of one embodiment of thesurgical tool of FIGS. 46-47 with portions thereof omitted for clarity.

FIG. 54 is a front perspective view of a portion of one embodiment ofthe surgical tool of FIGS. 46-47 with portions thereof omitted forclarity.

FIG. 55 is a side elevational view of a portion of the surgical toolembodiment of FIGS. 46-47 with portions thereof omitted for clarity.

FIG. 56 is an exploded assembly view of an example reversing systemembodiment of the surgical tool of FIGS. 46-47.

FIG. 57 is a perspective view of a lever arm embodiment of the reversingsystem of FIG. 56.

FIG. 58 is a perspective view of a knife retractor button of oneembodiment of the reversing system of FIG. 56.

FIG. 59 is a perspective view of a portion of the surgical toolembodiment of FIGS. 46-47 with portions thereof omitted for clarity andwith the lever arm in actuatable engagement with the reversing gear.

FIG. 60 is a perspective view of a portion of the surgical toolembodiment of FIGS. 46-47 with portions thereof omitted for clarity andwith the lever arm in an unactuated position.

FIG. 61 is another perspective view of a portion of the surgical toolembodiment of FIGS. 46-47 with portions thereof omitted for clarity andwith the lever arm in actuatable engagement with the reversing gear.

FIG. 62 is a side elevational view of a portion of a handle assemblyportion of the surgical tool embodiment of FIGS. 46-47 with a shifterbutton assembly moved into a position which will result in the rotationof the end effector when the drive shaft assembly is actuated.

FIG. 63 is another side elevational view of a portion of a handleassembly portion of one embodiment of the surgical tool of FIGS. 46-47with the a shifter button assembly moved into another position whichwill result in the firing of the firing member in the end effector whenthe drive shaft assembly is actuated.

FIG. 64 is a perspective view of an embodiment of a multi-axisarticulating and rotating surgical tool.

FIG. 65 is an exploded perspective view of various components of oneembodiment of the surgical tool shown in FIG. 64.

FIG. 66 is a partial cross-sectional perspective view of one embodimentof the surgical tool shown in FIG. 64, illustrating a rotary drive shaftengaging a rotary drive nut for actuating translation of an I-beammember and closure of a jaw assembly of an end effector.

FIG. 67 is a cross-sectional perspective view of one embodiment of thesurgical tool shown in FIG. 64, illustrating a rotary drive shaftengaging a rotary drive nut for actuating translation of an I-beammember and closure of a jaw assembly of an end effector.

FIG. 68 is a partial cross-sectional perspective view of one embodimentof the surgical tool shown in FIG. 64, illustrating a rotary drive shaftengaging a shaft coupling for actuating rotation of an end effector.

FIG. 69 is a side cross-sectional view of one embodiment of the surgicaltool shown in FIG. 64, illustrating the jaw assembly of an end effectorin an open position, an I-beam member in a proximally retractedposition, and a rotary drive shaft engaging a rotary drive nut foractuating translation of the I-beam member and closure of the jawassembly of the end effector.

FIG. 70 is a side cross-sectional view of one embodiment of the surgicaltool shown in FIG. 64, illustrating the jaw assembly of an end effectorin a closed position, an I-beam member in a distally advanced position,and a rotary drive shaft engaging a rotary drive nut for actuatingtranslation of the I-beam member and opening of the jaw assembly of theend effector.

FIG. 71 is a side cross-sectional view of one embodiment of the surgicaltool shown in FIG. 64, illustrating the jaw assembly of an end effectorin an open position, an I-beam member in a proximally retractedposition, and a rotary drive shaft engaging a shaft coupling foractuating rotation of the end effector.

FIG. 72 is a side cross-sectional view of one embodiment of the surgicaltool shown in FIG. 64, illustrating the jaw assembly of an end effectorin a closed position, an I-beam member in a distally advanced position,and a rotary drive shaft engaging a shaft coupling for actuatingrotation of the end effector.

FIGS. 73 and 74 are side cross-sectional detail views of one embodimentof the surgical tool shown in FIG. 64, illustrating the engagement ofcam surfaces of an I-beam member with anvil surfaces of a first jawmember to move the first jaw member relative to a second jaw memberbetween an open position and a closed position.

FIG. 75 is an exploded view of the components comprising an embodimentof a multi-axis articulating and rotating surgical tool comprising ahead locking mechanism.

FIG. 76 is an exploded view of spline lock components of one embodimentof the head locking mechanism of the surgical tool illustrated in FIG.75.

FIG. 77 is a side cross-sectional view of one embodiment of the surgicaltool shown in FIG. 75, illustrating the jaw assembly of an end effectorin an open position, an I-beam member in a proximally retractedposition, a rotary drive shaft engaging a rotary drive nut for actuatingtranslation of the I-beam member and closure of the jaw assembly of theend effector, and an engaged spline lock preventing rotation of the endeffector.

FIG. 78 is a side cross-sectional view of one embodiment of the surgicaltool shown in FIG. 75, illustrating the jaw assembly of an end effectorin a closed position, an I-beam member in a distally advanced position,a rotary drive shaft engaging a rotary drive nut for actuatingtranslation of the I-beam member and opening of the jaw assembly of theend effector, and an engaged spline lock preventing rotation of the endeffector.

FIG. 79 is a side cross-sectional view of one embodiment of the surgicaltool shown in FIG. 75, illustrating the jaw assembly of an end effectorin an open position, an I-beam member in a proximally retractedposition, a rotary drive shaft engaging a shaft coupling for actuatingrotation of the end effector, and a disengaged spline lock allowingrotation of the end effector.

FIG. 80 is a side cross-sectional view of one embodiment of the surgicaltool shown in FIG. 64, illustrating the jaw assembly of an end effectorin a closed position, an I-beam member in a distally advanced position,a rotary drive shaft engaging a shaft coupling for actuating rotation ofthe end effector, and a disengaged spline lock allowing rotation of theend effector.

FIG. 81 is a side cross-sectional detail view of one embodiment of thesurgical tool shown in FIG. 80.

FIG. 82 is a side cross-sectional detail view of one embodiment of thesurgical tool shown in FIG. 78.

FIG. 83 is a cross sectional perspective view of a surgical tool havingfirst and second jaw members in accordance with certain embodimentsdescribed herein.

FIG. 84 is prospective view of a closure nut of one embodiment of thesurgical tool of FIG. 83.

FIG. 85 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 83 wherein the first jaw member and the second jawmember are in an at least partially open position, and wherein therotary drive shaft is operably disengaged with the rotary drive nut.

FIG. 86 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 83 wherein the first jaw member and the second jawmember are in an at least partially open position, and wherein therotary drive shaft is operably engaged with the rotary drive nut.

FIG. 87 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 83 wherein the first jaw member and the second jawmember are in an at least partially closed position, wherein the rotarydrive shaft is operably engaged with the rotary drive nut, and whereinthe closure nut is operably disengaged from the rotary drive nut.

FIG. 88 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 83 wherein the first jaw member and the second jawmember are in an at least partially closed position, wherein the rotarydrive shaft is operably engaged with the rotary drive nut, and whereinthe I-beam member is at least partially extended.

FIG. 89 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 83 wherein the first jaw member and the second jawmember are in an at least partially closed position, wherein the rotarydrive shaft is operably engaged with the rotary drive nut, and whereinthe I-beam member is at least partially retracted.

FIG. 90 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 83 wherein the first jaw member and the second jawmember are in an at least partially closed position, wherein the rotarydrive shaft is operably engaged with the rotary drive nut, and whereinthe I-beam member is at least partially retracted.

FIG. 91 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 83 wherein the first jaw member and the second jawmember are in an at least partially open position, wherein the rotarydrive shaft is operably engaged with the rotary drive nut, and whereinthe closure nut is operably engaged from the rotary drive nut.

FIG. 92 is a cross sectional perspective view of a surgical tool havingfirst and second jaw members in accordance with certain embodimentsdescribed herein.

FIG. 93 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 92 wherein the first jaw member and the second jawmember are in an at least partially open position, and wherein therotary drive shaft is operably engaged with spline coupling portion ofthe end effector drive housing.

FIG. 94 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 92 wherein the first jaw member and the second jawmember are in an at least partially closed position, and wherein therotary drive shaft is operably engaged with spline coupling portion ofthe barrel cam.

FIG. 95 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 92 wherein the first jaw member and the second jawmember are in an at least partially closed position, and wherein therotary drive shaft is not operably engaged with any of the splinecoupling portions.

FIG. 96 is a cross sectional elevation view of one embodiment of thesurgical tool of FIG. 92 wherein the first jaw member and the second jawmember are in an at least partially closed position, and wherein therotary drive shaft is operably engaged with spline coupling portion ofthe rotary drive nut.

FIG. 97 illustrates a perspective view of an end effector and anarticulation joint of a surgical instrument in accordance with at leastone embodiment illustrated with portions removed for the purposes ofillustration.

FIG. 98 illustrates a detail view of a drive shaft in accordance with atleast one embodiment configured to be translated within the end effectorand the articulation joint of FIG. 97.

FIG. 99 illustrates a perspective view of a drive shaft in accordancewith at least one alternative embodiment.

FIG. 100 illustrates an elevational view of one embodiment of the driveshaft of FIG. 99.

FIG. 101 illustrates an elevational view of one embodiment of the driveshaft of FIG. 99 illustrated in an articulated condition.

FIG. 102 illustrates a perspective view of a drive shaft assemblycomprising a drive tube and a thread extending around the drive tube inaccordance with at least one alternative embodiment.

FIG. 103 illustrates an elevational view of one embodiment of the driveshaft assembly of FIG. 102.

FIG. 104 illustrates a perspective view of a drive shaft assemblycomprising a drive tube, a thread extending around the drive tube, andan inner core extending through the drive tube in accordance with atleast one embodiment.

FIG. 105 illustrates an elevational view of one embodiment of the driveshaft assembly of FIG. 104.

FIG. 106 is a perspective view of a surgical tool having first andsecond jaw members in accordance with certain embodiments describedherein.

FIG. 107 is cross sectional view of distal portions of one embodiment ofthe first and second jaw members of the surgical end tool shown in FIG.106.

FIG. 108 is a perspective view of a surgical end effector and a shaftassembly in accordance with certain embodiments described herein.

FIG. 109 is a prospective view of a jaw member of a surgical endeffector in accordance with certain embodiments described herein.

FIG. 110 is a cross-sectional view of a surgical effector detached froma shaft assembly in accordance with certain embodiments describedherein.

FIG. 111 is a cross-sectional view of a surgical effector attached to ashaft assembly in accordance with certain embodiments described herein.

FIG. 112 is a perspective view of multiple interchangeable surgical endeffectors in accordance with certain embodiments described herein.

FIG. 113 is a perspective view of a surgical end effector including across sectional view of a jaw member in accordance with certainembodiments described herein.

FIG. 114 is a cross-sectional view of a surgical effector detached froma shaft assembly in accordance with certain embodiments describedherein.

FIG. 115 is a cross-sectional view of a surgical effector attached to ashaft assembly in accordance with certain embodiments described herein.

FIG. 116 is a perspective view of a surgical end effector having firstand second jaws in accordance with certain embodiments described herein.

FIG. 117 is another perspective view of the surgical end effector shownin FIG. 116 including a cross sectional perspective view of a jaw memberin accordance with certain embodiments described herein.

FIG. 118 is cross sectional view of a first jaw member and a second jawmember of a surgical end effector in accordance with certain embodimentsdescribed herein.

FIG. 119 is cross sectional view of a first jaw member and a second jawmember of a surgical end effector in accordance with certain embodimentsdescribed herein

FIG. 120 is a perspective view of a first jaw member and a second jawmember of a surgical end effector in accordance with certain embodimentsdescribed herein.

FIG. 121 is a prospective view of a distal portion of a jaw member of asurgical end effector in accordance with certain embodiments describedherein.

FIG. 122 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 123 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 124 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 125 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 126 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 127 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 128 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 129 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 130 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 131 is a top view of a gripping portion in accordance with certainembodiments described herein.

FIG. 132 is a perspective view of one embodiment of an end effectorhaving first and second jaw members in an open position and angledtissue-contacting surfaces along substantially the entire length of thejaw members.

FIG. 133 is another perspective view of one embodiment of the endeffector shown in FIG. 132 with the first and second jaw members in aclosed position.

FIG. 134 is a front view of one embodiment of the end effector shown inFIG. 133.

FIG. 135 is a cross-sectional view of one embodiment of the end effectorshown in FIG. 134.

FIG. 136 is a side view of one embodiment of the end effector shown inFIG. 132.

FIG. 137 is a side view of one embodiment of the end effector shown inFIG. 133.

FIG. 138 is a schematic diagram showing a front view of one embodimentof an end effector having first and second jaw members, wherein each jawmember has two oppositely-angled tissue-contacting surfaces.

FIG. 139 is a perspective view of one embodiment of an end effectorhaving first and second jaw members in an open position and angledtissue-contacting surfaces along a portion of the length of the jawmembers.

FIG. 140 is another perspective view of one embodiment of the endeffector shown in FIG. 139.

FIG. 141 is a perspective view of one embodiment of an end effectorhaving first and second jaw members in an open position, angledtissue-contacting surfaces along a portion of the length of the jawmembers, and electrodes positioned between the two angledtissue-contacting surfaces on the second jaw member.

FIG. 142 is a cross-sectional view of one embodiment of an end effectorhaving first and second jaw members in a closed position clamping tissuebetween the jaw members, wherein the first and second jaw members haveopposed angled tissue-contacting surfaces.

FIG. 143 is a cross-sectional view of one embodiment of the end effectorand shaft assembly of FIGS. 64-82 illustrating an example installationof a rotary electrode assembly.

FIG. 144 is an exploded view of one embodiment of the end effector andshaft assembly of FIG. 143 showing the rotary electrode assembly bothinstalled and exploded.

FIG. 145 is a cross-sectional view of one embodiment of the end effectorand shaft assembly of FIG. 143 showing the rotary electrode assemblywith a rotary drive head in a proximal position.

FIG. 146 is a cross-sectional view of one embodiment of the end effectorand shaft assembly of FIG. 143 showing the rotary electrode assemblywith the rotary drive head in a distal position.

FIGS. 147-148 are cross-sectional views of one embodiment of the endeffector and shaft assembly of FIG. 143 where a longitudinal length ofthe outer contact is selected such that the rotary connector assemblyalternately creates and breaks an electrical connection limited by thelongitudinal position of the brush assembly.

FIGS. 149-150 illustrate one embodiment of the end effector and shaftassembly of FIG. 143 showing a configuration including lead portions andconnector assembly between the end effector and the shaft assembly.

FIG. 151 illustrates a cross-sectional view one embodiment of an endeffector and shaft assembly showing another context in which a rotaryconnector assembly may utilized.

FIG. 152 illustrates a cross-sectional view of one embodiment of the endeffector and shaft assembly of FIGS. 83-91 illustrating another exampleinstallation of a rotary electrode assembly.

FIG. 153 illustrates one embodiment of an end effector that may beutilized with various surgical tools, including those described herein.

FIG. 154 illustrates one embodiment of the end effector of FIG. 153showing a tissue contacting portion adjacent a longitudinal channel ofthe second jaw member of the end effector.

FIG. 155 illustrates one embodiment of the end effector of FIG. 153showing an axial cross-section along a midline of the first jaw membershowing a tissue-contacting portion disposed adjacent to a longitudinalchannel of the first jaw member.

FIG. 156 illustrates a perspective view of one embodiment of the endeffector of FIG. 153 in an open position.

FIG. 157 illustrates a top view of one embodiment of a second jaw membersuitable for use with the end effector of FIG. 153.

FIG. 158 illustrates a bottom view of one embodiment of a first jawmember suitable for use with the end effector of FIG. 153.

FIG. 159 illustrates a front cross-sectional view of another embodimentof the end effector of FIG. 153 in a closed position.

FIGS. 160-165 illustrates side cross-sectional views of variousembodiments of the end effector of FIG. 153.

FIG. 166 illustrates another embodiment of the second jaw membersuitable for use with the end effector of FIG. 153 in a closed positionholding a surgical implement.

FIG. 167 illustrates one embodiment of the second jaw member suitablefor use with the end effector of FIG. 153.

FIG. 168 illustrates another embodiment of the second jaw membersuitable for use with the end effector of FIG. 153.

DETAILED DESCRIPTION

Applicant of the present application also owns the following patentapplications that have been filed on Jun. 28, 2012 and which are eachherein incorporated by reference in their respective entireties:

1. U.S. patent application Ser. No. 13/536,271, entitled FLEXIBLE DRIVEMEMBER, now U.S. Pat. No. 9,204,879.

2. U.S. patent application Ser. No. 13/536,288, entitledMULTI-FUNCTIONAL POWERED SURGICAL DEVICE WITH EXTERNAL DISSECTIONFEATURES, now U.S. Patent Application Publication No. 2014/0005718.

3. U.S. patent application Ser. No. 13/536,277, entitled COUPLINGARRANGEMENTS FOR ATTACHING SURGICAL END EFFECTORS TO DRIVE SYSTEMSTHEREFOR, now U.S. Patent Application Publication No. 2014/0001234.

4. U.S. patent application Ser. No. 13/536,295, entitled ROTARYACTUATABLE CLOSURE ARRANGEMENT FOR SURGICAL END EFFECTOR, now U.S. Pat.No. 9,119,657.

5. U.S. patent application Ser. No. 13/536,303, entitled INTERCHANGEABLEEND EFFECTOR COUPLING ARRANGEMENT, now U.S. Pat. No. 9,028,494.

6. U.S. patent application Ser. No. 13/536,393, entitled SURGICAL ENDEFFECTOR JAW AND ELECTRODE CONFIGURATIONS, now U.S. Patent ApplicationPublication No. 2014/0005640.

7. U.S. patent application Ser. No. 13/536,362, entitled MULTI-AXISARTICULATING AND ROTATING SURGICAL TOOLS, now U.S. Pat. No. 9,125,662.

8. U.S. patent application Ser. No. 13/536,284, entitled DIFFERENTIALLOCKING ARRANGEMENTS FOR ROTARY POWERED SURGICAL INSTRUMENTS, now U.S.Pat. No. 9,072,536.

9. U.S. patent application Ser. No. 13/536,374, entitled INTERCHANGEABLECLIP APPLIER, now U.S. Patent Application Publication No. 2014/0005693.

10. U.S. patent application Ser. No. 13/536,292, entitled FIRING SYSTEMLOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0001231.

11. U.S. patent application Ser. No. 13/536,301, entitled ROTARY DRIVESHAFT ASSEMBLIES FOR SURGICAL INSTRUMENTS WITH ARTICULATABLE ENDEFFECTORS, now U.S. Pat. No. 8,747,238.

12. U.S. patent application Ser. No. 13/536,313, entitled ROTARY DRIVEARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2014/0005678.

13. U.S. patent application Ser. No. 13/536,323, entitled ROBOTICALLYPOWERED SURGICAL DEVICE WITH MANUALLY-ACTUATABLE REVERSING SYSTEM, nowU.S. Patent Application Publication No. 2014/0001235.

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15. U.S. patent application Ser. No. 13/536,386, entitled EMPTY CLIPCARTRIDGE LOCKOUT, now U.S. Patent Application Publication No.2014/0005695.

16. U.S. patent application Ser. No. 13/536,360, entitled SURGICALINSTRUMENT SYSTEM INCLUDING REPLACEABLE END EFFECTORS, now U.S. Pat. No.9,226,751.

17. U.S. patent application Ser. No. 13/536,335, entitled ROTARY SUPPORTJOINT ASSEMBLIES FOR COUPLING A FIRST PORTION OF A SURGICAL INSTRUMENTTO A SECOND PORTION OF A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0001236.

18. U.S. patent application Ser. No. 13/536,417, entitled ELECTRODECONNECTIONS FOR ROTARY DRIVEN SURGICAL TOOLS, now U.S. Pat. No.9,101,385.

Applicant also owns the following patent applications that are eachincorporated:

U.S. patent application Ser. No. 13/118,259, entitled SURGICALINSTRUMENT WITH WIRELESS COMMUNICATION BETWEEN A CONTROL UNIT OF AROBOTIC SYSTEM AND REMOTE SENSOR, now U.S. Pat. No. 8,684,253;

U.S. patent application Ser. No. 13/118,210, entitledROBOTICALLY-CONTROLLED DISPOSABLE MOTOR DRIVEN LOADING UNIT, now U.S.Pat. No. 8,752,749;

U.S. patent application Ser. No. 13/118,194, entitledROBOTICALLY-CONTROLLED ENDOSCOPIC ACCESSORY CHANNEL, now U.S. Pat. No.8,992,422;

U.S. patent application Ser. No. 13/118,253, entitledROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT, now U.S. Pat. No.386,983;

U.S. patent application Ser. No. 13/118,278, entitledROBOTICALLY-CONTROLLED SURGICAL STAPLING DEVICES THAT PRODUCE FORMEDSTAPLES HAVING DIFFERENT LENGTHS, now U.S. Pat. No. 9,237,891;

U.S. patent application Ser. No. 13/118,190, entitledROBOTICALLY-CONTROLLED MOTORIZED CUTTING AND FASTENING INSTRUMENT, nowU.S. Pat. No. 9,179,912;

U.S. patent application Ser. No. 13/118,223, entitledROBOTICALLY-CONTROLLED SHAFT BASED ROTARY DRIVE SYSTEMS FOR SURGICALINSTRUMENTS, now U.S. Pat. No. 8,931,682;

U.S. patent application Ser. No. 13/118,263, entitledROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT HAVING RECORDINGCAPABILITIES, now U.S. Patent Application Publication No. 2011/0295295;

U.S. patent application Ser. No. 13/118,272, entitledROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH FORCE FEEDBACKCAPABILITIES, now U.S. Patent Application Publication No. 2011/0290856;

U.S. patent application Ser. No. 13/118,246, entitled ROBOTICALLY-DRIVENSURGICAL INSTRUMENT WITH E-BEAM DRIVER, now U.S. Pat. No. 9,060,770; and

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat.No. 9,072,535.

Certain example embodiments will now be described to provide an overallunderstanding of the principles of the structure, function, manufacture,and use of the devices and methods disclosed herein. One or moreexamples of these example embodiments are illustrated in theaccompanying drawings. Those of ordinary skill in the art willunderstand that the devices and methods specifically described hereinand illustrated in the accompanying drawings are non-limiting exampleembodiments and that the scope of the various example embodiments of thepresent invention is defined solely by the claims. The featuresillustrated or described in connection with one example embodiment maybe combined with the features of other example embodiments. Suchmodifications and variations are intended to be included within thescope of the present invention.

FIG. 1 depicts a master controller 12 that is used in connection with arobotic arm slave cart 20 of the type depicted in FIG. 2. Mastercontroller 12 and robotic arm slave cart 20, as well as their respectivecomponents and control systems are collectively referred to herein as arobotic system 10. Examples of such systems and devices are disclosed inU.S. Pat. No. 7,524,320 which has been herein incorporated by reference.Thus, various details of such devices will not be described in detailherein beyond that which may be necessary to understand various exampleembodiments disclosed herein. As is known, the master controller 12generally includes master controllers (generally represented as 14 inFIG. 1) which are grasped by the surgeon and manipulated in space whilethe surgeon views the procedure via a stereo display 16. The mastercontrollers 12 generally comprise manual input devices which preferablymove with multiple degrees of freedom, and which often further have anactuatable handle for actuating tools (for example, for closing graspingjaws, applying an electrical potential to an electrode, or the like).

As can be seen in FIG. 2, the robotic arm cart 20 is configured toactuate a plurality of surgical tools, generally designated as 30.Various robotic surgery systems and methods employing master controllerand robotic arm cart arrangements are disclosed in U.S. Pat. No.6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, thefull disclosure of which is incorporated herein by reference. As shown,the robotic arm cart 20 includes a base 22 from which, in theillustrated embodiment, three surgical tools 30 are supported. Thesurgical tools 30 are each supported by a series of manuallyarticulatable linkages, generally referred to as set-up joints 32, and arobotic manipulator 34. These structures are herein illustrated withprotective covers extending over much of the robotic linkage. Theseprotective covers may be optional, and may be limited in size orentirely eliminated to minimize the inertia that is encountered by theservo mechanisms used to manipulate such devices, to limit the volume ofmoving components so as to avoid collisions, and to limit the overallweight of the cart 20. The cart 20 generally has dimensions suitable fortransporting the cart 20 between operating rooms. The cart 20 isconfigured to typically fit through standard operating room doors andonto standard hospital elevators. The cart 20 would preferably have aweight and include a wheel (or other transportation) system that allowsthe cart 20 to be positioned adjacent an operating table by a singleattendant.

Referring now to FIG. 3, robotic manipulators 34 as shown include alinkage 38 that constrains movement of the surgical tool 30. Linkage 38includes rigid links coupled together by rotational joints in aparallelogram arrangement so that the surgical tool 30 rotates around apoint in space 40, as more fully described in U.S. Pat. No. 5,817,084,the full disclosure of which is herein incorporated by reference. Theparallelogram arrangement constrains rotation to pivoting about an axis40 a, sometimes called the pitch axis. The links supporting theparallelogram linkage are pivotally mounted to set-up joints 32 (FIG. 2)so that the surgical tool 30 further rotates about an axis 40 b,sometimes called the yaw axis. The pitch and yaw axes 40 a, 40 bintersect at the remote center 42, which is aligned along a shaft 44 ofthe surgical tool 30. The surgical tool 30 may have further degrees ofdriven freedom as supported by manipulator 50, including sliding motionof the surgical tool 30 along the longitudinal tool axis “LT-LT”. As thesurgical tool 30 slides along the tool axis LT-LT relative tomanipulator 50 (arrow 40 c), remote center 42 remains fixed relative tobase 52 of manipulator 50. Hence, the entire manipulator is generallymoved to re-position remote center 42. Linkage 54 of manipulator 50 isdriven by a series of motors 56. These motors actively move linkage 54in response to commands from a processor of a control system. Motors 56are also employed to manipulate the surgical tool 30. An alternativeset-up joint structure is illustrated in FIG. 4. In this embodiment, asurgical tool 30 is supported by an alternative manipulator structure50′ between two tissue manipulation tools.

Other embodiments may incorporate a wide variety of alternative roboticstructures, including those described in U.S. Pat. No. 5,878,193,entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, the fulldisclosure of which is incorporated herein by reference. Additionally,while the data communication between a robotic component and theprocessor of the robotic surgical system is described with reference tocommunication between the surgical tool 30 and the master controller 12,similar communication may take place between circuitry of a manipulator,a set-up joint, an endoscope or other image capture device, or the like,and the processor of the robotic surgical system for componentcompatibility verification, component-type identification, componentcalibration (such as off-set or the like) communication, confirmation ofcoupling of the component to the robotic surgical system, or the like.

A surgical tool 100 that is well-adapted for use with a robotic system10 is depicted in FIGS. 5-6. FIG. 5 illustrates an additional embodimentof the surgical tool 100 and electrosurgical end effector 3000. As canbe seen in FIG. 5, the surgical tool 100 includes an electrosurgical endeffector 3000. The electrosurgical end effector 3000 may utilizeelectrical energy to treat and/or destroy tissue. The electrosurgicalend effector 3000 generally comprises first and second jaw members3008A, 3008B which may be straight, as shown in FIGS. 6-10, or curved asshown in various other figures described herein. One or both of the jawmembers 3008A, 3008B generally comprise various electrodes for providingelectrosurgical energy to tissue. The surgical tool 100 generallyincludes an elongate shaft assembly 200 that is operably coupled to themanipulator 50 by a tool mounting portion, generally designated as 300.Electrosurgical tools (e.g., surgical tools that include anelectrosurgical end effector, such at the tool 100 and end effector3000) may be used in any suitable type of surgical environmentincluding, for example, open, laparoscopic, endoscopic, etc.

Generally, electrosurgical tools comprise one or more electrodes forproviding electric current. The electrodes may be positioned againstand/or positioned relative to tissue such that electrical current canflow through the tissue. The electrical current may generate heat in thetissue that, in turn, causes one or more hemostatic seals to form withinthe tissue and/or between tissues. For example, tissue heating caused bythe electrical current may at least partially denature proteins withinthe tissue. Such proteins, such as collagen, for example, may bedenatured into a proteinaceous amalgam that intermixes and fuses, or“welds”, together as the proteins renature. As the treated region healsover time, this biological “weld” may be reabsorbed by the body's woundhealing process.

Electrical energy provided by electrosurgical tools may be of anysuitable form including, for example, direct or alternating current. Forexample, the electrical energy may include high frequency alternatingcurrent such as radio frequency or “RF” energy. RF energy may includeenergy in the range of 300 kilohertz (kHz) to 1 megahertz (MHz). Whenapplied to tissue, RF energy may cause ionic agitation or friction,increasing the temperature of the tissue. Also, RF energy may provide asharp boundary between affected tissue and other tissue surrounding it,allowing surgeons to operate with a high level of precision and control.The low operating temperatures of RF energy enables surgeons to remove,shrink or sculpt soft tissue while simultaneously sealing blood vessels.RF energy works particularly well on connective tissue, which isprimarily comprised of collagen and shrinks when contacted by heat.

In certain arrangements, some bi-polar (e.g., two-electrode)electrosurgical tools can comprise opposing first and second jawmembers, where the face of each jaw can comprise a current path and/orelectrode. In use, the tissue can be captured between the jaw faces suchthat electrical current can flow between the electrodes in the opposingjaw members and through the tissue positioned therebetween. Such toolsmay have to coagulate, seal or “weld” many types of tissues, such asanatomic structures having walls with irregular or thick fibrouscontent, bundles of disparate anatomic structures, substantially thickanatomic structures, and/or tissues with thick fascia layers such aslarge diameter blood vessels, for example. Some embodiments may includea knife or cutting edge to transect the tissue, for example, during orafter the application of electrosurgical energy. With particular regardto cutting and sealing large diameter blood vessels, for example, suchapplications may require a high strength tissue weld immediatelypost-treatment.

FIG. 6 is a perspective view of one embodiment of the electrosurgicaltool 100 in electrical communication with a generator 3002. Theelectrosurgical tool 100 in conjunction with the generator 3002 can beconfigured to supply energy, such as electrical energy, ultrasonicenergy, and/or heat energy, for example, to the tissue of a patient. Inthe illustrated embodiment and in functionally similar embodiments, thegenerator 3002 is connected to electrosurgical tool 100 via a suitabletransmission medium such as a cable 3010. In one embodiment, thegenerator 3002 is coupled to a controller, such as a control unit 3004,for example. In various embodiments, the control unit 3004 may be formedintegrally with the generator 3002 or may be provided as a separatecircuit module or device electrically coupled to the generator 3002(shown in phantom to illustrate this option). Although in the presentlydisclosed embodiment, the generator 3002 is shown separate from theelectrosurgical tool 100, in one embodiment, the generator 3002 (and/orthe control unit 3004) may be formed integrally with the electrosurgicaltool 100 to form a unitary electrosurgical system. For example, in someembodiments a generator or equivalent circuit may be present within thetool mounting portion 300 and/or within a handle in suitable manualembodiments (as described herein).

The generator 3002 may comprise an input device 3006 located on a frontpanel of the generator 3002 console. The input device 3006 may compriseany suitable device that generates signals suitable for programming theoperation of the generator 3002, such as a keyboard, or input port, forexample. In one embodiment, various electrodes in the first jaw member3008A and the second jaw member 3008B may be coupled to the generator3002. A cable 3010 connecting the tool mounting portion 300 to thegenerator 3002 may comprise multiple electrical conductors for theapplication of electrical energy to positive (+) and negative (−)electrodes of the electrosurgical tool 100. The control unit 3004 may beused to activate the generator 3002, which may serve as an electricalsource. In various embodiments, the generator 3002 may comprise an RFsource, an ultrasonic source, a direct current source, and/or any othersuitable type of electrical energy source, for example.

In various embodiments, surgical tool 100 may comprise at least onesupply conductor 3012 and at least one return conductor 3014, whereincurrent can be supplied to electrosurgical tool 100 via the supplyconductor 3012 and wherein the current can flow back to the generator3002 via return conductor 3014. In various embodiments, the supplyconductor 3012 and the return conductor 3014 may comprise insulatedwires and/or any other suitable type of conductor. In certainembodiments, as described below, the supply conductor 3012 and thereturn conductor 3014 may be contained within and/or may comprise thecable 3010 extending between, or at least partially between, thegenerator 3002 and the end effector 3000 of the electrosurgical tool100. In any event, the generator 3002 can be configured to apply asufficient voltage differential between the supply conductor 3012 andthe return conductor 3014 such that sufficient current can be suppliedto the end effector 3000.

The electrosurgical end effector 3000 may be adapted for capturing andtransecting tissue and for the contemporaneously welding the capturedtissue with controlled application of energy (e.g., RF energy). FIG. 7illustrates one embodiment of the electrosurgical end effector 3000 withthe jaw members 3008A, 3008B open and an axially movable member 3016 ina proximally retracted position. FIG. 8 illustrates one embodiment ofthe electrosurgical end effector 3000 with the jaw members 3008A, 3008Bclosed and the axially movable member 3016 in a partially advancedposition.

In use, the jaw members 3008A, 3008B close to thereby capture or engagetissue about a longitudinal tool axis LT-LT defined by the axiallymoveable member 3016 (or a distal portion thereof). The first jaw member3008A and second jaw member 3008B may also apply compression to thetissue. In some embodiments, the elongate shaft 200, along with firstjaw member 3008A and second jaw member 3008B, can be rotated a full 360°degrees, as shown by arrow 3018 (see FIG. 8), relative to tool mountingportion 300.

The first jaw member 3008A and the second jaw member 3008B may eachcomprise an elongate slot or channel 3020A and 3020B (FIG. 7),respectively, disposed outwardly along their respective middle portions.Further, the first jaw member 3008A and second jaw member 3008B may eachhave tissue-gripping elements, such as teeth 3022, disposed on the innerportions of first jaw member 3008A and second jaw member 3008B. Thelower jaw member 3008B may define a jaw body with an energy deliverysurface or electrode 3024B. For example, the electrode 3024B may be inelectrical communication with the generator 3002 via the supplyconductor 3012. An energy delivery surface 3024A on the upper first jawmember 3008 may provide a return path for electrosurgical energy. Forexample, the energy delivery surface 3024A may be in electricalcommunication with the return conductor 3014. In the illustratedembodiment and in functionally similar embodiments, other conductiveparts of the surgical tool 100 including, for example the jaw members3008A, 3008B, the shaft 200, etc. may form all or a part of the returnpath. Various configurations of electrodes and various configurationsfor coupling the energy delivery surfaces 3024A, 3024B to the conductors3012, 3014 are described herein. Also, it will be appreciated that thesupply electrode 3024B may be provided on the lower jaw member 3008B asshown or on the upper jaw member 3008A.

Distal and proximal translation of the axially moveable member 3016 mayserve to open and close the jaw members 3008A, 3008B and to sever tissueheld therebetween. FIG. 9 is a perspective view of one embodiment of theaxially moveable member 3016 of the surgical tool 100. The axiallymoveable member 3016 may comprise one or several pieces, but in anyevent, may be movable or translatable with respect to the elongate shaft200 and/or the jaw members 3008A, 3008B. Also, in at least oneembodiment, the axially moveable member 3016 may be made of 17-4precipitation hardened stainless steel. The distal end of axiallymoveable member 3016 may comprise a flanged “I”-beam configured to slidewithin the channels 3020A and 3020B in jaw members 3008A and 3008B. Theaxially moveable member 3016 may slide within the channels 3020A, 3020Bto open and close first jaw member 3008A and second jaw member 3008B.The distal end of the axially moveable member 3016 may also comprise anupper flange or “c”-shaped portion 3016A and a lower flange or“c”-shaped portion 3016B. The flanges 3016A and 3016B respectivelydefine inner cam surfaces 3026A and 3026B for engaging outward facingsurfaces of first jaw member 3008A and second jaw member 3008B. Theopening-closing of jaw members 3008A and 3008B can apply very highcompressive forces on tissue using cam mechanisms which may includemovable “I-beam” axially moveable member 3016 and the outward facingsurfaces 3028A, 3028B of jaw members 3008A, 3008B.

More specifically, referring now to FIGS. 7-9, collectively, the innercam surfaces 3026A and 3026B of the distal end of axially moveablemember 3016 may be adapted to slidably engage the first outward-facingsurface 3028A and the second outward-facing surface 3028B of the firstjaw member 3008A and the second jaw member 3008B, respectively. Thechannel 3020A within first jaw member 3008A and the channel 3020B withinthe second jaw member 3008B may be sized and configured to accommodatethe movement of the axially moveable member 3016, which may comprise atissue-cutting element 3030, for example, comprising a sharp distaledge. FIG. 8, for example, shows the distal end of the axially moveablemember 3016 advanced at least partially through channels 3020A and 3020B(FIG. 7). The advancement of the axially moveable member 3016 may closethe end effector 3000 from the open configuration shown in FIG. 7. Inthe closed position shown by FIG. 8, the upper first jaw member 3008Aand lower second jaw member 3008B define a gap or dimension D betweenthe first energy delivery surface 3024A and second energy deliverysurface 3024B of first jaw member 3008A and second jaw member 3008B,respectively. In various embodiments, dimension D can equal from about0.0005″ to about 0.040″, for example, and in some embodiments, betweenabout 0.001″ to about 0.010″, for example. Also, the edges of the firstenergy delivery surface 3024A and the second energy delivery surface3024B may be rounded to prevent the dissection of tissue.

FIG. 10 is a section view of one embodiment of the end effector 3000 ofthe surgical tool 100. The engagement, or tissue-contacting, surface3024B of the lower jaw member 3008B is adapted to deliver energy totissue, at least in part, through a conductive-resistive matrix, such asa variable resistive positive temperature coefficient (PTC) body, asdiscussed in more detail below. At least one of the upper and lower jawmembers 3008A, 3008B may carry at least one electrode 3032 configured todeliver the energy from the generator 3002 to the captured tissue. Theengagement, or tissue-contacting, surface 3024A of upper jaw member3008A may carry a similar conductive-resistive matrix (i.e., a PTCmaterial), or in some embodiments the surface may be a conductiveelectrode or an insulative layer, for example. Alternatively, theengagement surfaces of the jaw members can carry any of the energydelivery components disclosed in U.S. Pat. No. 6,773,409, filed Oct. 22,2001, entitled ELECTROSURGICAL JAW STRUCTURE FOR CONTROLLED ENERGYDELIVERY, the entire disclosure of which is incorporated herein byreference.

The first energy delivery surface 3024A and the second energy deliverysurface 3024B may each be in electrical communication with the generator3002. The first energy delivery surface 3024A and the second energydelivery surface 3024B may be configured to contact tissue and deliverelectrosurgical energy to captured tissue which are adapted to seal orweld the tissue. The control unit 3004 regulates the electrical energydelivered by electrical generator 3002 which in turn deliverselectrosurgical energy to the first energy delivery surface 3024A andthe second energy delivery surface 3024B. The energy delivery may beinitiated in any suitable manner (e.g., upon actuation of the robotsystem 10. In one embodiment, the electrosurgical tool 100 may beenergized by the generator 3002 by way of a foot switch 3034 (FIG. 6).When actuated, the foot switch 3034 triggers the generator 3002 todeliver electrical energy to the end effector 3000, for example. Thecontrol unit 3004 may regulate the power generated by the generator 3002during activation. Although the foot switch 3034 may be suitable in manycircumstances, other suitable types of switches can be used.

As mentioned above, the electrosurgical energy delivered by electricalgenerator 3002 and regulated, or otherwise controlled, by the controlunit 3004 may comprise radio frequency (RF) energy, or other suitableforms of electrical energy. Further, one or both of the opposing firstand second energy delivery surfaces 3024A and 3024B may carry variableresistive positive temperature coefficient (PTC) bodies that are inelectrical communication with the generator 3002 and the control unit3004. Additional details regarding electrosurgical end effectors, jawclosing mechanisms, and electrosurgical energy-delivery surfaces aredescribed in the following U.S. patents and published patentapplications: U.S. Pat. Nos. 7,087,054; 7,083,619; 7,070,597; 7,041,102;7,011,657; 6,929,644; 6,926,716; 6,913,579; 6,905,497; 6,802,843;6,770,072; 6,656,177; 6,533,784; and 6,500,176; and U.S. PatentApplication Publication Nos. 2010/0036370 and 2009/0076506, all of whichare incorporated herein in their entirety by reference and made a partof this specification.

In one embodiment, the generator 3002 may be implemented as anelectrosurgery unit (ESU) capable of supplying power sufficient toperform bipolar electrosurgery using radio frequency (RF) energy. In oneembodiment, the ESU can be a bipolar ERBE ICC 350 sold by ERBE USA, Inc.of Marietta, Ga. In some embodiments, such as for bipolar electrosurgeryapplications, a surgical tool having an active electrode and a returnelectrode can be utilized, wherein the active electrode and the returnelectrode can be positioned against, adjacent to and/or in electricalcommunication with, the tissue to be treated such that current can flowfrom the active electrode, through the positive temperature coefficient(PTC) bodies and to the return electrode through the tissue. Thus, invarious embodiments, the electrosurgical system 150 may comprise asupply path and a return path, wherein the captured tissue being treatedcompletes, or closes, the circuit. In one embodiment, the generator 3002may be a monopolar RF ESU and the electrosurgical tool 100 may comprisea monopolar end effector 3000 in which one or more active electrodes areintegrated. For such a system, the generator 3002 may require a returnpad in intimate contact with the patient at a location remote from theoperative site and/or other suitable return path. The return pad may beconnected via a cable to the generator 3002.

During operation of electrosurgical tool 100, the clinician generallygrasps tissue, supplies energy to the captured tissue to form a weld ora seal (e.g., by actuating button 214 and/or pedal 216), and then drivesthe tissue-cutting element 3030 at the distal end of the axiallymoveable member 3016 through the captured tissue. According to variousembodiments, the translation of the axial movement of the axiallymoveable member 3016 may be paced, or otherwise controlled, to aid indriving the axially moveable member 3016 at a suitable rate of travel.By controlling the rate of the travel, the likelihood that the capturedtissue has been properly and functionally sealed prior to transectionwith the cutting element 3030 is increased.

Referring now to the embodiment depicted in FIGS. 11-15, the toolmounting portion 300 includes a tool mounting plate 304 that operablysupports a plurality of (four are shown in FIG. 15) rotatable bodyportions, driven discs or elements 306, that each include a pair of pins308 that extend from a surface of the driven element 306. One pin 308 iscloser to an axis of rotation of each driven elements 306 than the otherpin 308 on the same driven element 306, which helps to ensure positiveangular alignment of the driven element 306. Interface 302 may includean adaptor portion 310 that is configured to mountingly engage amounting plate 304 as will be further discussed below. The illustratedadaptor portion 310 includes an array of electrical connecting pins 312(FIG. 13) which may be coupled to a memory structure by a circuit boardwithin the tool mounting portion 300. While interface 302 is describedherein with reference to mechanical, electrical, and magnetic couplingelements, it should be understood that a wide variety of telemetrymodalities might be used, including infrared, inductive coupling, or thelike in other embodiments.

As can be seen in FIGS. 11-14, the adapter portion 310 generallyincludes a tool side 314 and a holder side 316. A plurality of rotatablebodies 320 are mounted to a floating plate 318 which has a limited rangeof movement relative to the surrounding adaptor structure normal to themajor surfaces of the adaptor 310. Axial movement of the floating plate318 helps decouple the rotatable bodies 320 from the tool mountingportion 300 when levers or other latch formations along the sides of thetool mounting portion housing (not shown) are actuated. Otherembodiments may employ other mechanisms/arrangements for releasablycoupling the tool mounting portion 300 to the adaptor 310. In theembodiment of FIGS. 11-15, rotatable bodies 320 are resiliently mountedto floating plate 318 by resilient radial members which extend into acircumferential indentation about the rotatable bodies 320. Therotatable bodies 320 can move axially relative to plate 318 bydeflection of these resilient structures. When disposed in a first axialposition (toward tool side 314) the rotatable bodies 320 are free torotate without angular limitation. However, as the rotatable bodies 320move axially toward tool side 314, tabs 322 (extending radially from therotatable bodies 320) laterally engage detents on the floating plates soas to limit angular rotation of the rotatable bodies 320 about theiraxes. This limited rotation can be used to help drivingly engage therotatable bodies 320 with drive pins 332 of a corresponding tool holderportion 330 of the robotic system 10, as the drive pins 332 will pushthe rotatable bodies 320 into the limited rotation position until thepins 332 are aligned with (and slide into) openings 334′. Openings 334on the tool side 314 and openings 334′ on the holder side 316 ofrotatable bodies 320 are configured to accurately align the drivenelements 306 (FIG. 15) of the tool mounting portion 300 with the driveelements 336 of the tool holder 330. As described above regarding innerand outer pins 308 of driven elements 306, the openings 304, 304′ are atdiffering distances from the axis of rotation on their respectiverotatable bodies 306 so as to ensure that the alignment is not 180degrees from its intended position. Additionally, each of the openings304 may be slightly radially elongate so as to fittingly receive thepins 308 in the circumferential orientation. This allows the pins 308 toslide radially within the openings 334, 334′ and accommodate some axialmisalignment between the tool 100 and tool holder 330, while minimizingany angular misalignment and backlash between the drive and drivenelements. Openings 334 on the tool side 314 may be offset by about 90degrees from the openings 334′ (shown in broken lines) on the holderside 316, as can be seen most clearly in FIG. 14.

In the embodiment of FIGS. 11-15, an array of electrical connector pins340 are located on holder side 316 of adaptor 310 and the tool side 314of the adaptor 310 includes slots 342 (FIG. 14) for receiving a pinarray (not shown) from the tool mounting portion 300. In addition totransmitting electrical signals between the surgical tool 100 and thetool holder 330, at least some of these electrical connections may becoupled to an adaptor memory device 344 (FIG. 13) by a circuit board ofthe adaptor 310.

In the embodiment of FIGS. 11-15, a detachable latch arrangement 346 isemployed to releasably affix the adaptor 310 to the tool holder 330. Asused herein, the term “tool drive assembly” when used in the context ofthe robotic system 10, at least encompasses the adapter 310 and toolholder 330 and which have been collectively generally designated as 110in FIG. 11. As can be seen in FIG. 11, the tool holder 330 includes afirst latch pin arrangement 337 that is sized to be received incorresponding clevis slots 311 provided in the adaptor 310. In addition,the tool holder 330 further has second latch pins 338 that are sized tobe retained in corresponding latch devises 313 in the adaptor 310. SeeFIG. 11. A latch assembly 315 is movably supported on the adapter 310and has a pair of latch devises 317 formed therein that is biasable froma first latched position wherein the latch pins 338 are retained withintheir respective latch clevis 313 and an unlatched position wherein thedevises 317 are aligned with devises 313 to enable the second latch pins338 may be inserted into or removed from the latch devises 313. A springor springs (not shown) are employed to bias the latch assembly into thelatched position. A lip on the tool side 314 of adaptor 310 slidablyreceives laterally extending tabs of the tool mounting housing (notshown).

Referring now to FIGS. 5 and 16-21, the tool mounting portion 300operably supports a plurality of drive systems for generating variousforms of control motions necessary to operate a particular type of endeffector that is coupled to the distal end of the elongate shaftassembly 200. As shown in FIGS. 5 and 16-21, the tool mounting portion300 includes a first drive system generally designated as 350 that isconfigured to receive a corresponding “first” rotary output motion fromthe tool drive assembly 110 of the robotic system 10 and convert thatfirst rotary output motion to a first rotary control motion to beapplied to the surgical end effector. In the illustrated embodiment, thefirst rotary control motion is employed to rotate the elongate shaftassembly 200 (and surgical end effector 3000) about a longitudinal toolaxis LT-LT.

In the embodiment of FIGS. 5 and 16-18, the first drive system 350includes a tube gear segment 354 that is formed on (or attached to) theproximal end 208 of a proximal tube segment 202 of the elongate shaftassembly 200. The proximal end 208 of the proximal tube segment 202 isrotatably supported on the tool mounting plate 304 of the tool mountingportion 300 by a forward support cradle 352 that is mounted on the toolmounting plate 304. See FIG. 16. The tube gear segment 354 is supportedin meshing engagement with a first rotational gear assembly 360 that isoperably supported on the tool mounting plate 304. As can be seen inFIG. 16, the rotational gear assembly 360 comprises a first rotationdrive gear 362 that is coupled to a corresponding first one of thedriven discs or elements 306 on the holder side 316 of the tool mountingplate 304 when the tool mounting portion 300 is coupled to the tooldrive assembly 110. See FIG. 15. The rotational gear assembly 360further comprises a first rotary driven gear 364 that is rotatablysupported on the tool mounting plate 304. The first rotary driven gear364 is in meshing engagement with a second rotary driven gear 366 which,in turn, is in meshing engagement with the tube gear segment 354.Application of a first rotary output motion from the tool drive assembly110 of the robotic system 10 to the corresponding driven element 306will thereby cause rotation of the rotation drive gear 362. Rotation ofthe rotation drive gear 362 ultimately results in the rotation of theelongate shaft assembly 200 (and the surgical end effector 3000) aboutthe longitudinal tool axis LT-LT (represented by arrow “R” in FIG. 5).It will be appreciated that the application of a rotary output motionfrom the tool drive assembly 110 in one direction will result in therotation of the elongate shaft assembly 200 and surgical end effector3000 about the longitudinal tool axis LT-LT in a first rotary directionand an application of the rotary output motion in an opposite directionwill result in the rotation of the elongate shaft assembly 200 andsurgical end effector 3000 in a second rotary direction that is oppositeto the first rotary direction.

In embodiment of FIGS. 5 and 16-21, the tool mounting portion 300further includes a second drive system generally designated as 370 thatis configured to receive a corresponding “second” rotary output motionfrom the tool drive assembly 110 of the robotic system 10 and convertthat second rotary output motion to a second rotary control motion forapplication to the surgical end effector. The second drive system 370includes a second rotation drive gear 372 that is coupled to acorresponding second one of the driven discs or elements 306 on theholder side 316 of the tool mounting plate 304 when the tool mountingportion 300 is coupled to the tool drive assembly 110. See FIG. 15. Thesecond drive system 370 further comprises a first rotary driven gear 374that is rotatably supported on the tool mounting plate 304. The firstrotary driven gear 374 is in meshing engagement with a shaft gear 376that is movably and non-rotatably mounted onto a proximal drive shaftsegment 380. In this illustrated embodiment, the shaft gear 376 isnon-rotatably mounted onto the proximal drive shaft segment 380 by aseries of axial keyways 384 that enable the shaft gear 376 to axiallymove on the proximal drive shaft segment 380 while being non-rotatablyaffixed thereto. Rotation of the proximal drive shaft segment 380results in the transmission of a second rotary control motion to thesurgical end effector 3000.

The second drive system 370 in the embodiment of FIGS. 5 and 16-21includes a shifting system 390 for selectively axially shifting theproximal drive shaft segment 380 which moves the shaft gear 376 into andout of meshing engagement with the first rotary driven gear 374. Forexample, as can be seen in FIGS. 16-18, the proximal drive shaft segment380 is supported within a second support cradle 382 that is attached tothe tool mounting plate 304 such that the proximal drive shaft segment380 may move axially and rotate relative to the second support cradle382. In at least one form, the shifting system 390 further includes ashifter yoke 392 that is slidably supported on the tool mounting plate304. The proximal drive shaft segment 380 is supported in the shifteryoke 392 and has a pair of collars 386 thereon such that shifting of theshifter yoke 392 on the tool mounting plate 304 results in the axialmovement of the proximal drive shaft segment 380. In at least one form,the shifting system 390 further includes a shifter solenoid 394 thatoperably interfaces with the shifter yoke 392. The shifter solenoid 394receives control power from the robotic controller 12 such that when theshifter solenoid 394 is activated, the shifter yoke 392 is moved in thedistal direction “DD”.

In this illustrated embodiment, a shaft spring 396 is journaled on theproximal drive shaft segment 380 between the shaft gear 376 and thesecond support cradle 382 to bias the shaft gear 376 in the proximaldirection “PD” and into meshing engagement with the first rotary drivengear 374. See FIGS. 16, 18 and 19. Rotation of the second rotation drivegear 372 in response to rotary output motions generated by the roboticsystem 10 ultimately results in the rotation of the proximal drive shaftsegment 380 and other drive shaft components coupled thereto (driveshaft assembly 388) about the longitudinal tool axis LT-LT. It will beappreciated that the application of a rotary output motion from the tooldrive assembly 110 in one direction will result in the rotation of theproximal drive shaft segment 380 and ultimately of the other drive shaftcomponents attached thereto in a first direction and an application ofthe rotary output motion in an opposite direction will result in therotation of the proximal drive shaft segment 380 in a second directionthat is opposite to the first direction. When it is desirable to shiftthe proximal drive shaft segment 380 in the distal direction “DD” aswill be discussed in further detail below, the robotic controller 12activates the shifter solenoid 390 to shift the shifter yoke 392 in thedistal direction “DD”. IN some embodiments, the shifter solenoid 390 maybe capable of shifting the proximal drive shaft segment 380 between morethan two longitudinal positions. For example, some embodiments, such asthose described herein with respect to FIGS. 83-96, may utilize therotary drive shaft (e.g., coupled to the proximal drive shaft segment380) in more than two longitudinal positions.

FIGS. 22-23 illustrate another embodiment that employs the samecomponents of the embodiment depicted in FIGS. 5 and 16-21 except thatthis embodiment employs a battery-powered drive motor 400 for supplyingrotary drive motions to the proximal drive shaft segment 380. Sucharrangement enables the tool mounting portion to generate higher rotaryoutput motions and torque which may be advantageous when different formsof end effectors are employed. As can be seen in those Figures, themotor 400 is attached to the tool mounting plate 304 by a supportstructure 402 such that a driver gear 404 that is coupled to the motor400 is retained in meshing engagement with the shaft gear 376. In theembodiment of FIGS. 22-23, the support structure 402 is configured toremovably engage latch notches 303 formed in the tool mounting plate 304that are designed to facilitate attachment of a housing member (notshown) to the mounting plate 304 when the motor 400 is not employed.Thus, to employ the motor 400, the clinician removes the housing fromthe tool mounting plate 304 and then inserts the legs 403 of the supportstructure into the latch notches 303 in the tool mounting plate 304. Theproximal drive shaft segment 380 and the other drive shaft componentsattached thereto are rotated about the longitudinal tool axis LT-LT bypowering the motor 400. As illustrated, the motor 400 is batterypowered. In such arrangement, however, the motor 400 interface with therobotic controller 12 such that the robotic system 10 controls theactivation of the motor 400. In alternative embodiments, the motor 400is manually actuatable by an on/off switch (not shown) mounted on themotor 400 itself or on the tool mounting portion 300. In still otherembodiments, the motor 400 may receive power and control signals fromthe robotic system.

The embodiment illustrated in FIGS. 5 and 16-21 includes amanually-actuatable reversing system, generally designated as 410, formanually applying a reverse rotary motion to the proximal drive shaftsegment 380 in the event that the motor fails or power to the roboticsystem is lost or interrupted. Such manually-actuatable reversing system410 may also be particularly useful, for example, when the drive shaftassembly 388 becomes jammed or otherwise bound in such a way that wouldprevent reverse rotation of the drive shaft components under the motorpower alone. In the illustrated embodiment, the mechanically-actuatablereversing system 410 includes a drive gear assembly 412 that isselectively engagable with the second rotary driven gear 376 and ismanually actuatable to apply a reversing rotary motion to the proximaldrive shaft segment 380. The drive gear assembly 412 includes areversing gear 414 that is movably mounted to the tool mounting plate304. The reversing gear 414 is rotatably journaled on a pivot shaft 416that is movably mounted to the tool mounting plate 304 through a slot418. See FIG. 17. In the embodiment of FIGS. 5 and 16-21, themanually-actuatable reversing system 410 further includes a manuallyactuatable drive gear 420 that includes a body portion 422 that has anarcuate gear segment 424 formed thereon. The body portion 422 ispivotally coupled to the tool mounting plate 304 for selective pivotaltravel about an actuator axis A-A (FIG. 16) that is substantially normalto the tool mounting plate 304.

FIGS. 16-19 depict the manually-actuatable reversing system 410 in afirst unactuated position. In one example form, an actuator handleportion 426 is formed on or otherwise attached to the body portion 422.The actuator handle portion 426 is sized relative to the tool mountingplate 304 such that a small amount of interference is establishedbetween the handle portion 426 and the tool mounting plate 304 to retainthe handle portion 426 in the first unactuated position. However, whenthe clinician desires to manually actuate the drive gear assembly 412,the clinician can easily overcome the interference fit by applying apivoting motion to the handle portion 426. As can also be seen in FIGS.16-19, when the drive gear assembly 412 is in the first unactuatedposition, the arcuate gear segment 424 is out of meshing engagement withthe reversing gear 414. When the clinician desires to apply a reverserotary drive motion to the proximal drive shaft segment 380, theclinician begins to apply a pivotal ratcheting motion to drive gear 420.As the drive gear 420 begins to pivot about the actuation axis A-A, aportion of the body 422 contacts a portion of the reversing gear 414 andaxially moves the reversing gear 414 in the distal direction DD takingthe drive shaft gear 376 out of meshing engagement with the first rotarydriven gear 374 of the second drive system 370. See FIG. 20. As thedrive gear 420 is pivoted, the arcuate gear segment 424 is brought intomeshing engagement with the reversing gear 414. Continued ratcheting ofthe drive gear 420 results in the application of a reverse rotary drivemotion to the drive shaft gear 376 and ultimately to the proximal driveshaft segment 380. The clinician may continue to ratchet the drive gearassembly 412 for as many times as are necessary to fully release orreverse the associated end effector component(s). Once a desired amountof reverse rotary motion has been applied to the proximal drive shaftsegment 380, the clinician returns the drive gear 420 to the starting orunactuated position wherein the arcuate gear segment 416 is out ofmeshing engagement with the drive shaft gear 376. When in that position,the shaft spring 396 once again biases the shaft gear 376 into meshingengagement with first rotary driven gear 374 of the second drive system370.

In use, the clinician may input control commands to the controller orcontrol unit of the robotic system 10 which “robotically-generates”output motions that are ultimately transferred to the various componentsof the second drive system 370. As used herein, the terms“robotically-generates” or “robotically-generated” refer to motions thatare created by powering and controlling the robotic system motors andother powered drive components. These terms are distinguishable from theterms “manually-actuatable” or “manually generated” which refer toactions taken by the clinician which result in control motions that aregenerated independent from those motions that are generated by poweringthe robotic system motors. Application of robotically-generated controlmotions to the second drive system in a first direction results in theapplication of a first rotary drive motion to the drive shaft assembly388. When the drive shaft assembly 388 is rotated in a first rotarydirection, the axially movable member 3016 is driven in the distaldirection “DD” from its starting position toward its ending position inthe end effector 3000, for example, as described herein with respect toFIGS. 64-96. Application of robotically-generated control motions to thesecond drive system in a second direction results in the application ofa second rotary drive motion to the drive shaft assembly 388. When thedrive shaft assembly 388 is rotated in a second rotary direction, theaxially movable member 3016 is driven in the proximal direction “PD”from its ending position toward its starting position in the endeffector 3000. When the clinician desires to manually-apply rotarycontrol motion to the drive shaft assembly 388, the drive shaft assembly388 is rotated in the second rotary direction which causes a firingmember (e.g., axially translatable member 3016) to move in the proximaldirection “PD” in the end effector. Other embodiments containing thesame components are configured such that the manual-application of arotary control motion to the drive shaft assembly could cause the driveshaft assembly to rotate in the first rotary direction which could beused to assist the robotically-generated control motions to drive theaxially movable member 3016 in the distal direction.

The drive shaft assembly that is used to fire, close and rotate the endeffector can be actuated and shifted manually allowing the end effectorto release and be extracted from the surgical site as well as theabdomen even in the event that the motor(s) fail, the robotic systemloses power or other electronic failure occurs. Actuation of the handleportion 426 results in the manual generation of actuation or controlforces that are applied to the drive shaft assembly 388′ by the variouscomponents of the manually-actuatable reversing system 410. If thehandle portion 426 is in its unactuated state, it is biased out ofactuatable engagement with the reversing gear 414. The beginning of theactuation of the handle portion 426 shifts the bias. The handle 426 isconfigured for repeated actuation for as many times as are necessary tofully release the axially movable member 3016 and the end effector 3000.

As illustrated in FIGS. 5 and 16-21, the tool mounting portion 300includes a third drive system 430 that is configured to receive acorresponding “third” rotary output motion from the tool drive assembly110 of the robotic system 10 and convert that third rotary output motionto a third rotary control motion. The third drive system 430 includes athird drive pulley 432 that is coupled to a corresponding third one ofthe driven discs or elements 306 on the holder side 316 of the toolmounting plate 304 when the tool mounting portion 300 is coupled to thetool drive assembly 110. See FIG. 15. The third drive pulley 432 isconfigured to apply a third rotary control motion (in response tocorresponding rotary output motions applied thereto by the roboticsystem 10) to a corresponding third drive cable 434 that may be used toapply various control or manipulation motions to the end effector thatis operably coupled to the shaft assembly 200. As can be mostparticularly seen in FIGS. 16-17, the third drive cable 434 extendsaround a third drive spindle assembly 436. The third drive spindleassembly 436 is pivotally mounted to the tool mounting plate 304 and athird tension spring 438 is attached between the third drive spindleassembly 436 and the tool mounting plate 304 to maintain a desiredamount of tension in the third drive cable 434. As can be seen in theFigures, cable end portion 434A of the third drive cable 434 extendsaround an upper portion of a pulley block 440 that is attached to thetool mounting plate 304 and cable end portion 434B extends around asheave pulley or standoff 442 on the pulley block 440. It will beappreciated that the application of a third rotary output motion fromthe tool drive assembly 110 in one direction will result in the rotationof the third drive pulley 432 in a first direction and cause the cableend portions 434A and 434B to move in opposite directions to applycontrol motions to the end effector 3000 or elongate shaft assembly 200as will be discussed in further detail below. That is, when the thirddrive pulley 432 is rotated in a first rotary direction, the cable endportion 434A moves in a distal direction “DD” and cable end portion 434Bmoves in a proximal direction “PD”. Rotation of the third drive pulley432 in an opposite rotary direction result in the cable end portion 434Amoving in a proximal direction “PD” and cable end portion 434B moving ina distal direction “DD”.

The tool mounting portion 300 illustrated in FIGS. 5 and 16-21 includesa fourth drive system 450 that is configured to receive a corresponding“fourth” rotary output motion from the tool drive assembly 110 of therobotic system 10 and convert that fourth rotary output motion to afourth rotary control motion. The fourth drive system 450 includes afourth drive pulley 452 that is coupled to a corresponding fourth one ofthe driven discs or elements 306 on the holder side 316 of the toolmounting plate 304 when the tool mounting portion 300 is coupled to thetool drive assembly 110. See FIG. 15. The fourth drive pulley 452 isconfigured to apply a fourth rotary control motion (in response tocorresponding rotary output motions applied thereto by the roboticsystem 10) to a corresponding fourth drive cable 454 that may be used toapply various control or manipulation motions to the end effector thatis operably coupled to the shaft assembly 200. As can be mostparticularly seen in FIGS. 16-17, the fourth drive cable 454 extendsaround a fourth drive spindle assembly 456. The fourth drive spindleassembly 456 is pivotally mounted to the tool mounting plate 304 and afourth tension spring 458 is attached between the fourth drive spindleassembly 456 and the tool mounting plate 304 to maintain a desiredamount of tension in the fourth drive cable 454. Cable end portion 454Aof the fourth drive cable 454 extends around a bottom portion of thepulley block 440 that is attached to the tool mounting plate 304 andcable end portion 454B extends around a sheave pulley or fourth standoff462 on the pulley block 440. It will be appreciated that the applicationof a rotary output motion from the tool drive assembly 110 in onedirection will result in the rotation of the fourth drive pulley 452 ina first direction and cause the cable end portions 454A and 454B to movein opposite directions to apply control motions to the end effector orelongate shaft assembly 200 as will be discussed in further detailbelow. That is, when the fourth drive pulley 434 is rotated in a firstrotary direction, the cable end portion 454A moves in a distal direction“DD” and cable end portion 454B moves in a proximal direction “PD”.Rotation of the fourth drive pulley 452 in an opposite rotary directionresult in the cable end portion 454A moving in a proximal direction “PD”and cable end portion 454B to move in a distal direction “DD”.

The surgical tool 100 as depicted in FIGS. 5-6 includes an articulationjoint 3500. In such embodiment, the third drive system 430 may also bereferred to as a “first articulation drive system” and the fourth drivesystem 450 may be referred to herein as a “second articulation drivesystem”. Likewise, the third drive cable 434 may be referred to as a“first proximal articulation cable” and the fourth drive cable 454 maybe referred to herein as a “second proximal articulation cable”.

The tool mounting portion 300 of the embodiment illustrated in FIGS. 5and 16-21 includes a fifth drive system generally designated as 470 thatis configured to axially displace a drive rod assembly 490. The driverod assembly 490 includes a proximal drive rod segment 492 that extendsthrough the proximal drive shaft segment 380 and the drive shaftassembly 388. See FIG. 18. The fifth drive system 470 includes a movabledrive yoke 472 that is slidably supported on the tool mounting plate304. The proximal drive rod segment 492 is supported in the drive yoke372 and has a pair of retainer balls 394 thereon such that shifting ofthe drive yoke 372 on the tool mounting plate 304 results in the axialmovement of the proximal drive rod segment 492. In at least one exampleform, the fifth drive system 370 further includes a drive solenoid 474that operably interfaces with the drive yoke 472. The drive solenoid 474receives control power from the robotic controller 12. Actuation of thedrive solenoid 474 in a first direction will cause the drive rodassembly 490 to move in the distal direction “DD” and actuation of thedrive solenoid 474 in a second direction will cause the drive rodassembly 490 to move in the proximal direction “PD”. As can be seen inFIG. 5, the end effector 3000 includes a jaw members that are movablebetween open and closed positions upon application of axial closuremotions to a closure system. In the illustrated embodiment of FIGS. 5and 16-21, the fifth drive system 470 is employed to generate suchclosure motions. Thus, the fifth drive system 470 may also be referredto as a “closure drive”.

The surgical tool 100 depicted in FIGS. 5 and 16-21 includes anarticulation joint 3500 that cooperates with the third and fourth drivesystems 430, 450, respectively for articulating the end effector 3000about the longitudinal tool axis “LT”. The articulation joint 3500includes a proximal socket tube 3502 that is attached to the distal end233 of the distal outer tube portion 231 and defines a proximal ballsocket 3504 therein. See FIG. 24. A proximal ball member 3506 is movablyseated within the proximal ball socket 3504. As can be seen in FIG. 24,the proximal ball member 3506 has a central drive passage 3508 thatenables the distal drive shaft segment 3740 to extend therethrough. Inaddition, the proximal ball member 3506 has four articulation passages3510 therein which facilitate the passage of distal cable segments 444,445, 446, 447 therethrough. In various embodiments, distal cablesegments 444, 445, 446, 447 may be directly or indirectly coupled toproximal cable end portions 434A, 434B, 454A, 454B, respectively, forexample, as illustrated by FIG. 24A. As can be further seen in FIG. 24,the articulation joint 3500 further includes an intermediatearticulation tube segment 3512 that has an intermediate ball socket 3514formed therein. The intermediate ball socket 3514 is configured tomovably support therein an end effector ball 3522 formed on an endeffector connector tube 3520. The distal cable segments 444, 445, 446,447 extend through cable passages 3524 formed in the end effector ball3522 and are attached thereto by lugs 3526 received within correspondingpassages 3528 in the end effector ball 3522. Other attachmentarrangements may be employed for attaching distal cable segments 444,445, 446, 447 to the end effector ball 3522.

A unique and novel rotary support joint assembly, generally designatedas 3540, is depicted in FIGS. 25 and 26. The illustrated rotary supportjoint assembly 3540 includes a connector portion 4012 of the endeffector drive housing 4010 that is substantially cylindrical in shape.A first annular race 4014 is formed in the perimeter of thecylindrically-shaped connector portion 4012. The rotary support jointassembly 3540 further comprises a distal socket portion 3530 that isformed in the end effector connector tube 3520 as shown in FIGS. 25 and26. The distal socket portion 3530 is sized relative to the cylindricalconnector portion 4012 such that the connector portion 4012 can freelyrotate within the socket portion 3530. A second annular race 3532 isformed in an inner wall 3531 of the distal socket portion 3530. A window3533 is provided through the distal socket 3530 that communicates withthe second annular race 3532 therein. As can also be seen in FIGS. 25and 26, the rotary support joint assembly 3540 further includes aring-like bearing 3534. In various example embodiments, the ring-likebearing 3534 comprises a plastic deformable substantially-circular ringthat has a cut 3535 therein. The cut forms free ends 3536, 3537 in thering-like bearing 3534. As can be seen in FIG. 25, the ring-like bearing3534 has a substantially annular shape in its natural unbiased state.

To couple a surgical end effector 3000 (e.g., a first portion of asurgical tool) to the articulation joint 3500 (e.g., a second portion ofa surgical tool), the cylindrically shaped connector position 4012 isinserted into the distal socket portion 3530 to bring the second annularrace 3532 into substantial registry with the first annular race 4014.One of the free ends 3536, 3537 of the ring-like bearing is theninserted into the registered annular races 4014, 3532 through the window3533 in the distal socket portion 3530 of the end effector connectortube 3520. To facilitate easy insertion, the window or opening 3533 hasa tapered surface 3538 formed thereon. See FIG. 25. The ring-likebearing 3534 is essentially rotated into place and, because it tends toform a circle or ring, it does not tend to back out through the window3533 once installed. Once the ring-like bearing 3534 has been insertedinto the registered annular races 4014, 3532, the end effector connectortube 3520 will be rotatably affixed to the connector portion 4012 of theend effector drive housing 4010. Such arrangement enables the endeffector drive housing 4010 to rotate about the longitudinal tool axisLT-LT relative to the end effector connector tube 3520. The ring-likebearing 3534 becomes the bearing surface that the end effector drivehousing 4010 then rotates on. Any side loading tries to deform thering-like bearing 3534 which is supported and contained by the twointerlocking races 4014, 3532 preventing damage to the ring-like bearing3534. It will be understood that such simple and effective jointassembly employing the ring-like bearing 3534 forms a highly lubriciousinterface between the rotatable portions 4010, 3530. If during assembly,one of the free ends 3536, 3537 is permitted to protrude out through thewindow 3533 (see e.g., FIG. 26), the rotary support joint assembly 3540may be disassembled by withdrawing the ring-like bearing member 3532 outthrough the window 3533. The rotary support joint assembly 3540 allowsfor easy assembly and manufacturing while also providing for good endeffector support while facilitating rotary manipulation thereof.

The articulation joint 3500 facilitates articulation of the end effector3000 about the longitudinal tool axis LT. For example, when it isdesirable to articulate the end effector 3000 in a first direction “FD”as shown in FIG. 5, the robotic system 10 may power the third drivesystem 430 such that the third drive spindle assembly 436 (FIGS. 16-18)is rotated in a first direction thereby drawing the proximal cable endportion 434A and ultimately distal cable segment 444 in the proximaldirection “PD” and releasing the proximal cable end portion 434B anddistal cable segment 445 to thereby cause the end effector ball 3522 torotate within the socket 3514. Likewise, to articulate the end effector3000 in a second direction “SD” opposite to the first direction FD, therobotic system 10 may power the third drive system 430 such that thethird drive spindle assembly 436 is rotated in a second directionthereby drawing the proximal cable end portion 434B and ultimatelydistal cable segment 445 in the proximal direction “PD” and releasingthe proximal cable end portion 434A and distal cable segment 444 tothereby cause the end effector ball 3522 to rotate within the socket3514. When it is desirable to articulate the end effector 3000 in athird direction “TD” as shown in FIG. 5, the robotic system 10 may powerthe fourth drive system 450 such that the fourth drive spindle assembly456 is rotated in a third direction thereby drawing the proximal cableend portion 454A and ultimately distal cable segment 446 in the proximaldirection “PD” and releasing the proximal cable end portion 454B anddistal cable segment 447 to thereby cause the end effector ball 3522 torotate within the socket 3514. Likewise, to articulate the end effector3000 in a fourth direction “FTH” opposite to the third direction TD, therobotic system 10 may power the fourth drive system 450 such that thefourth drive spindle assembly 456 is rotated in a fourth directionthereby drawing the proximal cable end portion 454B and ultimatelydistal cable segment 447 in the proximal direction “PD” and releasingthe proximal cable end portion 454A and distal cable segment 446 tothereby cause the end effector ball 3522 to rotate within the socket3514.

The end effector embodiment depicted in FIGS. 5 and 16-21 employs rotaryand longitudinal motions that are transmitted from the tool mountingportion 300 through the elongate shaft assembly for actuation. The driveshaft assembly employed to transmit such rotary and longitudinal motions(e.g., torsion, tension and compression motions) to the end effector isrelatively flexible to facilitate articulation of the end effector aboutthe articulation joint. FIGS. 27-28 illustrate an alternative driveshaft assembly 3600 that may be employed in connection with theembodiment illustrated in FIGS. 5 and 16-21 or in other embodiments. Inthe embodiment depicted in FIG. 5 the proximal drive shaft segment 380comprises a segment of drive shaft assembly 3600 and the distal driveshaft segment 3740 similarly comprises another segment of drive shaftassembly 3600. The drive shaft assembly 3600 includes a drive tube 3602that has a series of annular joint segments 3604 cut therein. In thatillustrated embodiment, the drive tube 3602 comprises a distal portionof the proximal drive shaft segment 380. For example, the shaft assembly3600, as well as the shaft assemblies 3600′, 3600″ described herein withrespect to FIGS. 27-45 may be components of and/or mechanically coupledto various rotary drive shafts described herein including, for example,rotary drive shafts 680, 1270, 1382, etc.

The drive tube 3602 comprises a hollow metal tube (stainless steel,titanium, etc.) that has a series of annular joint segments 3604 formedtherein. The annular joint segments 3604 comprise a plurality of looselyinterlocking dovetail shapes 3606 that are, for example, cut into thedrive tube 3602 by a laser and serve to facilitate flexible movementbetween the adjoining joint segments 3604. See FIG. 28. Such lasercutting of a tube stock creates a flexible hollow drive tube that can beused in compression, tension and torsion. Such arrangement employs afull diametric cut that is interlocked with the adjacent part via a“puzzle piece” configuration. These cuts are then duplicated along thelength of the hollow drive tube in an array and are sometimes “clocked”or rotated to change the tension or torsion performance.

FIGS. 29-33 illustrate alternative example micro-annular joint segments3604′ that comprise plurality of laser cut shapes 3606′ that roughlyresemble loosely interlocking, opposed “T” shapes and T-shapes with anotched portion therein. The annular joint segments 3604, 3604′essentially comprise multiple micro-articulating torsion joints. Thatis, each joint segment 3604, 3604′ can transmit torque whilefacilitating relative articulation between each annular joint segment.As shown in FIGS. 29-30, the joint segment 3604D′ on the distal end 3603of the drive tube 3602 has a distal mounting collar portion 3608D thatfacilitates attachment to other drive components for actuating the endeffector or portions of the quick disconnect joint, etc. and the jointsegment 3604P′ on the proximal end 605 of the drive tube 3602 has aproximal mounting collar portion 3608P′ that facilitates attachment toother proximal drive components or portions of the quick disconnectjoint.

The joint-to-joint range of motion for each particular drive shaftassembly 3600 can be increased by increasing the spacing in the lasercuts. For example, to ensure that the joint segments 3604′ remaincoupled together without significantly diminishing the drive tube'sability to articulate through desired ranges of motion, a secondaryconstraining member 3610 is employed. In the embodiment depicted inFIGS. 31-32, the secondary constraining member 3610 comprises a spring3612 or other helically-wound member. In various example embodiments,the distal end 3614 of the spring 3612 corresponds to the distalmounting collar portion 3608D and is wound tighter than the centralportion 3616 of the spring 3612. Similarly, the proximal end 3618 of thespring 3612 is wound tighter than the central portion 3616 of the spring3612. In other embodiments, the constraining member 3610 is installed onthe drive tube 3602 with a desired pitch such that the constrainingmember also functions, for example, as a flexible drive thread forthreadably engaging other threaded control components on the endeffector and/or the control system. It will also be appreciated that theconstraining member may be installed in such a manner as to have avariable pitch to accomplish the transmission of the desired rotarycontrol motions as the drive shaft assembly is rotated. For example, thevariable pitch arrangement of the constraining member may be used toenhance open/close and firing motions which would benefit from differinglinear strokes from the same rotation motion. In other embodiments, forexample, the drive shaft assembly comprises a variable pitch thread on ahollow flexible drive shaft that can be pushed and pulled around aninety degree bend. In still other embodiments, the secondaryconstraining member comprises an elastomeric tube or coating 3611applied around the exterior or perimeter of the drive tube 3602 asillustrated in FIG. 33A. In still another embodiment, for example, theelastomeric tube or coating 3611′ is installed in the hollow passageway3613 formed within the drive tube 3602 as shown in FIG. 33B.

Such drive shaft arrangements comprise a composite torsional drive axlewhich allows superior load transmission while facilitating a desirableaxial range of articulation. See, e.g., FIGS. 33 and 33A-33B. That is,these composite drive shaft assemblies allow a large range of motionwhile maintaining the ability to transmit torsion in both directions aswell as facilitating the transmission of tension and compression controlmotions therethrough. In addition, the hollow nature of such drive shaftarrangements facilitate passage of other control components therethroughwhile affording improved tension loading. For example, some otherembodiments include a flexible internal cable that extends through thedrive shaft assembly which can assist in the alignment of the jointsegments while facilitating the ability to apply tension motions throughthe drive shaft assembly. Moreover, such drive shaft arrangements arerelatively easily to manufacture and assemble.

FIGS. 34-37 depict a segment 3620 of a drive shaft assembly 3600′. Thisembodiment includes joint segments 3622, 3624 that are laser cut out oftube stock material (e.g., stainless steel, titanium, polymer, etc.).The joint segments 3622, 3624 remain loosely attached together becausethe cuts 3626 are radial and are somewhat tapered. For example, each ofthe lug portions 3628 has a tapered outer perimeter portion 3629 that isreceived within a socket 3630 that has a tapered inner wall portion.See, e.g., FIGS. 35 and 37. Thus, there is no assembly required toattach the joint segments 3622, 3624 together. As can be seen in theFigures, joint segment 3622 has opposing pivot lug portions 3628 cut oneach end thereof that are pivotally received in corresponding sockets3630 formed in adjacent joint segments 3624.

FIGS. 34-37 illustrate a small segment of the drive shaft assembly3600′. Those of ordinary skill in the art will appreciate that thelugs/sockets may be cut throughout the entire length of the drive shaftassembly. That is, the joint segments 3624 may have opposing sockets3630 cut therein to facilitate linkage with adjoining joint segments3622 to complete the length of the drive shaft assembly 3600′. Inaddition, the joint segments 3624 have an angled end portion 3632 cuttherein to facilitate articulation of the joint segments 3624 relativeto the joint segments 3622 as illustrated in FIGS. 36-37. In theillustrated embodiment, each lug 3628 has an articulation stop portion3634 that is adapted to contact a corresponding articulation stop 3636formed in the joint segment 3622. See FIGS. 36-37. Other embodiments,which may otherwise be identical to the segment 3620, are not providedwith the articulation stop portions 3634 and stops 3636.

As indicated above, the joint-to-joint range of motion for eachparticular drive shaft assembly can be increased by increasing thespacing in the laser cuts. In such embodiments, to ensure that the jointsegments 3622, 3624 remain coupled together without significantlydiminishing the drive tube's ability to articulate through desiredranges of motion, a secondary constraining member in the form of anelastomeric sleeve or coating 3640 is employed. Other embodiments employother forms of constraining members disclosed herein and theirequivalent structures. As can be seen in FIG. 34, the joint segments3622, 3624 are capable of pivoting about pivot axes “PA-PA” defined bythe pivot lugs 3628 and corresponding sockets 3630. To obtain anexpanded range of articulation, the drive shaft assembly 3600′ may berotated about the tool axis TL-TL while pivoting about the pivot axesPA-PA.

FIGS. 38-43 depict a segment 3640 of another drive shaft assembly 3600″.The drive shaft assembly 3600″ comprises a multi-segment drive systemthat includes a plurality of interconnected joint segments 3642 thatform a flexible hollow drive tube 3602″. A joint segment 3642 includes aball connector portion 3644 and a socket portion 3648. Each jointsegment 3642 may be fabricated by, for example, metal injection molding“MIM” and be fabricated from 17-4, 17-7, 420 stainless steel. Otherembodiments may be machined from 300 or 400 series stainless steel, 6065or 7071 aluminum or titanium. Still other embodiments could be moldedout of plastic infilled or unfilled Nylon, Ultem, ABS, Polycarbonate orPolyethylene, for example. As can be seen in the Figures, the ballconnector 3644 is hexagonal in shape. That is, the ball connector 3644has six arcuate surfaces 3646 formed thereon and is adapted to berotatably received in like-shaped sockets 3650. Each socket 3650 has ahexagonally-shaped outer portion 3652 formed from six flat surfaces 3654and a radially-shaped inner portion 3656. See FIG. 41. Each jointsegment 3642 is identical in construction, except that the socketportions of the last joint segments forming the distal and proximal endsof the drive shaft assembly 3600 may be configured to operably mate withcorresponding control components. Each ball connector 3644 has a hollowpassage 3645 therein that cooperate to form a hollow passageway 3603through the hollow flexible drive tube 3602″.

As can be seen in FIGS. 42 and 43, the interconnected joint segments3642 are contained within a constraining member 3660 which comprises atube or sleeve fabricated from a flexible polymer material, for example.FIG. 44 illustrates a flexible inner core member 3662 extending throughthe interconnected joint segments 3642. The inner core member 3662comprises a solid member fabricated from a polymer material or a hollowtube or sleeve fabricated from a flexible polymer material. FIG. 45illustrates another embodiment wherein a constraining member 3660 and aninner core member 3662 are both employed.

Drive shaft assembly 3600″ facilitates transmission of rotational andtranslational motion through a variable radius articulation joint. Thehollow nature of the drive shaft assembly 3600″ provides room foradditional control components or a tensile element (e.g., a flexiblecable) to facilitate tensile and compressive load transmission. In otherembodiments, however, the joint segments 3624 do not afford a hollowpassage through the drive shaft assembly. In such embodiments, forexample, the ball connector portion is solid. Rotary motion istranslated via the edges of the hexagonal surfaces. Tighter tolerancesmay allow greater load capacity. Using a cable or other tensile elementthrough the centerline of the drive shaft assembly 3600″, the entiredrive shaft assembly 3600″ can be rotated bent, pushed and pulledwithout limiting range of motion. For example, the drive shaft assembly3600″ may form an arcuate drive path, a straight drive path, aserpentine drive path, etc.

While the various example embodiments described herein are configured tooperably interface with and be at least partially actuated by a roboticsystem, the various end effector and elongate shaft components describedherein, may be effectively employed in connection with handheld tools.For example, FIGS. 46-47 depict a handheld surgical tool 2400 that mayemploy various components and systems described above to operablyactuate an electrosurgical end effector 3000 coupled thereto. It will beappreciated that the handheld surgical tool 2400 may contain and/or beelectrically connected to a generator, such as the generator 3002, forgenerating an electrosurgical drive signal to drive the end effector300. In the example embodiment depicted in FIGS. 46-47, a quickdisconnect joint 2210 is employed to couple the end effector 3000 to anelongate shaft assembly 2402. For example, the quick disconnect joint2210 may operate to remove the end effector 3000 in the manner describedherein with reference to FIGS. 106-115. To facilitate articulation ofthe end effector 3000 about the articulation joint 3500, the proximalportion of the elongate shaft assembly 2402 includes an example manuallyactuatable articulation drive 2410.

Referring now to FIGS. 48-50, in at least one example form, thearticulation drive 2410 includes four axially movable articulationslides that are movably journaled on the proximal drive shaft segment380′ between the proximal outer tube segment 2214 and the proximal driveshaft segment 380′. For example, the articulation cable segment 434A′ isattached to a first articulation slide 2420 that has a firstarticulation actuator rod 2422 protruding therefrom. Articulation cablesegment 434B′ is attached to a second articulation slide 2430 that isdiametrically opposite from the first articulation slide 2420. Thesecond articulation slide 2430 has a second articulation actuator rod2432 protruding therefrom. Articulation cable segment 454A′ is attachedto a third articulation slide 2440 that has a third articulationactuator rod 2442 protruding therefrom. Articulation cable segment 454B′is attached to a fourth articulation slide 2450 that is diametricallyopposite to the third articulation slide 2440. A fourth articulationactuator rod 2452 protrudes from the fourth articulation slide 2450.Articulation actuator rods 2422, 2432, 2442, 2452 facilitate theapplication of articulation control motions to the articulation slides2420, 2430, 2440, 2450, respectively by an articulation ring assembly2460.

As can be seen in FIG. 48, the articulation actuator rods 2422, 2432,2442, 2452 movably pass through a mounting ball 2470 that is journaledon a proximal outer tube segment 2404. In at least one embodiment, themounting ball 2470 may be manufactured in segments that are attachedtogether by appropriate fastener arrangements (e.g., welding, adhesive,screws, etc.). As shown in FIG. 50, the articulation actuator rods 2422and 2432 extend through slots 2472 in the proximal outer tube segment2404 and slots 2474 in the mounting ball 2470 to enable the articulationslides 2420, 2430 to axially move relative thereto. Although not shown,the articulation actuator rods 2442, 2452 extend through similar slots2472, 2474 in the proximal outer tube segment 2404 and the mounting ball2470. Each of the articulation actuator rods 2422, 2432, 2442, 2452protrude out of the corresponding slots 2474 in the mounting ball 2470to be operably received within corresponding mounting sockets 2466 inthe articulation ring assembly 2460. See FIG. 49.

In at least one example form, the articulation ring assembly 2460 isfabricated from a pair of ring segments 2480, 2490 that are joinedtogether by, for example, welding, adhesive, snap features, screws, etc.to form the articulation ring assembly 2460. The ring segments 2480,2490 cooperate to form the mounting sockets 2466. Each of thearticulation actuator rods has a mounting ball 2468 formed thereon thatare each adapted to be movably received within a corresponding mountingsocket 2466 in the articulation ring assembly 2460.

Various example embodiments of the articulation drive 2410 may furtherinclude an example locking system 2486 configured to retain thearticulation ring assembly 2460 in an actuated position. In at least oneexample form, the locking system 2486 comprises a plurality of lockingflaps formed on the articulation ring assembly 2460. For example, thering segments 2480, 2490 may be fabricated from a somewhat flexiblepolymer or rubber material. Ring segment 2480 has a series of flexibleproximal locking flaps 2488 formed therein and ring segment 2490 has aseries of flexible distal locking flaps 2498 formed therein. Eachlocking flap 2388 has at least one locking detent 2389 formed thereonand each locking flap 2398 has at least one locking detent 2399 thereon.Locking detents 2389, 2399 may serve to establish a desired amount oflocking friction with the articulation ball so as to retain thearticulation ball in position. In other example embodiments, the lockingdetents 2389, 2390 are configured to matingly engage various lockingdimples formed in the outer perimeter of the mounting ball 2470.

Operation of the articulation drive 2410 can be understood fromreference to FIGS. 49 and 50. FIG. 49 illustrates the articulation drive2410 in an unarticulated position. In FIG. 50, the clinician hasmanually tilted the articulation ring assembly 2460 to cause thearticulation slide 2420 to move axially in the distal direction “DD”thereby advancing the articulation cable segment 434A′ distally. Suchmovement of the articulation ring assembly 2460 also results in theaxial movement of the articulation slide 2430 in the proximal directionwhich ultimately pulls the articulation cable 434B in the proximaldirection. Such pushing and pulling of the articulation cable segments434A′, 434B′ will result in articulation of the end effector 3000relative to the longitudinal tool axis “LT-LT” in the manner describedabove. To reverse the direction of articulation, the clinician simplyreverses the orientation of the articulation ring assembly 2460 tothereby cause the articulation slide 2430 to move in the distaldirection “DD” and the articulation slide 2420 to move in the proximaldirection “PD”. The articulation ring assembly 2460 may be similarlyactuated to apply desired pushing and pulling motions to thearticulation cable segments 454A′, 454B′. The friction created betweenthe locking detents 2389, 2399 and the outer perimeter of the mountingball serves to retain the articulation drive 2410 in position after theend effector 3000 has been articulated to the desired position. Inalternative example embodiments, when the locking detents 2389, 2399 arepositioned so as to be received in corresponding locking dimples in themounting ball, the mounting ball will be retained in position.

In the illustrated example embodiments and others, the elongate shaftassembly 2402 operably interfaces with a handle assembly 2500. Anexample embodiment of handle assembly 2500 comprises a pair of handlehousing segments 2502, 2504 that are coupled together to form a housingfor various drive components and systems as will be discussed in furtherdetail below. See, e.g., FIG. 46. The handle housing segments 2502, 2504may be coupled together by screws, snap features, adhesive, etc. Whencoupled together, the handle segments 2502, 2504 may form a handleassembly 2500 that includes a pistol grip portion 2506.

To facilitate selective rotation of the end effector 3000 about thelongitudinal tool axis “LT=LT”, the elongate shaft assembly 2402 mayinterface with a first drive system, generally designated as 2510. Thedrive system 2510 includes a manually-actuatable rotation nozzle 2512that is rotatably supported on the handle assembly 2500 such that it canbe rotated relative thereto as well as be axially moved between a lockedposition and an unlocked position.

The surgical tool 2400 may include a closure system 3670. The closuresystem 3670 may be used in some embodiments to bring about distal andproximal motion in the elongate shaft assembly 2402 and end effector3000. For example, in some embodiments, the closure system 3670 maydrive an axially movable member such as 3016. For example, the closuresystem 3670 may be used to translate the axially movable member 3016instead of the various rotary drive shafts described herein with respectto FIGS. 64-82, 83-91 and 92-96. In this example embodiment, the closuresystem 3670 is actuated by a closure trigger 2530 that is pivotallymounted to the handle frame assembly 2520 that is supported within thehandle housing segments 2502, 2504. The closure trigger 2530 includes anactuation portion 2532 that is pivotally mounted on a pivot pin 2531that is supported within the handle frame assembly 2520. See FIG. 51.Such example arrangement facilitates pivotal travel toward and away fromthe pistol grip portion 2506 of the handle assembly 2500. As can be seenin FIG. 51, the closure trigger 2530 includes a closure link 2534 thatis linked to the first pivot link and gear assembly 3695 by a closurewire 2535. Thus, by pivoting the closure trigger 2530 toward the pistolgrip portion 2506 of the handle assembly 2500 into an actuated position,the closure link 2534 and closure wire 2535 causes the first pivot linkand gear assembly 3695 to move in the distal direction “DD” to causedistal motion through the shaft and, in some embodiments, to the endeffector.

The surgical tool 2400 may further include a closure trigger lockingsystem 2536 to retain the closure trigger in the actuated position. Inat least one example form, the closure trigger locking system 2536includes a closure lock member 2538 that is pivotally coupled to thehandle frame assembly 2520. As can be seen in FIGS. 52 and 53, theclosure lock member 2538 has a lock arm 2539 formed thereon that isconfigured to ride upon an arcuate portion 2537 of the closure link 2532as the closure trigger 2530 is actuated toward the pistol grip portion2506. When the closure trigger 2530 has been pivoted to the fullyactuated position, the lock arm 2539 drops behind the end of the closurelink 2532 and prevents the closure trigger 2530 from returning to itsunactuated position. Thus, the distal motion translated through theshaft assembly to the end effector may be locked. To enable the closuretrigger 2530 to return to its unactuated position, the clinician simplypivots the closure lock member 2538 until the lock arm 2539 thereofdisengages the end of the closure link 2532 to thereby permit theclosure link 2532 to move to the unactuated position.

The closure trigger 2532 is returned to the unactuated position by aclosure return system 2540. For example, as can be seen in FIG. 51, oneexample form of the closure trigger return system 2540 includes aclosure trigger slide member 2542 that is linked to the closure link2534 by a closure trigger yoke 2544. The closure trigger slide member2542 is slidably supported within a slide cavity 2522 in the handleframe assembly 2520. A closure trigger return spring 2546 is positionedwithin the slide cavity 2520 to apply a biasing force to the closuretrigger slide member 2542. Thus, when the clinician actuates the closuretrigger 2530, the closure trigger yoke 2544 moves the closure triggerslide member 2542 in the distal direction “DD” compressing the closuretrigger return spring 2546. When the closure trigger locking system 2536is disengaged and the closure trigger is released 2530, the closuretrigger return spring 2546 moves the closure trigger slide member 2542in the proximal direction “PD” to thereby pivot the closure trigger 2530into the starting unactuated position.

The surgical tool 2400 can also employ any of the various example driveshaft assemblies described above. In at least one example form, thesurgical tool 2400 employs a second drive system 2550 for applyingrotary control motions to a proximal drive shaft assembly 380′. See FIG.55. The second drive system 2550 may include a motor assembly 2552 thatis operably supported in the pistol grip portion 2506. The motorassembly 2552 may be powered by a battery pack 2554 that is removablyattached to the handle assembly 2500 or it may be powered by a source ofalternating current. A second drive gear 2556 is operably coupled to thedrive shaft 2555 of the motor assembly 2552. The second drive gear 2556is supported for meshing engagement with a second rotary driven gear2558 that is attached to the proximal drive shaft segment 380′ of thedrive shaft assembly. In at least one form, for example, the seconddrive gear 2556 is also axially movable on the motor drive shaft 2555relative to the motor assembly 2552 in the directions represented byarrow “U” in FIG. 55. A biasing member, e.g., a coil spring 2560 orsimilar member, is positioned between the second drive gear 2556 and themotor housing 2553 and serves to bias the second drive gear 2556 on themotor drive shaft 2555 into meshing engagement with a first gear segment2559 on the second driven gear 2558.

The second drive system 2550 may further include a firing triggerassembly 2570 that is movably, e.g., pivotally attached to the handleframe assembly 2520. In at least one example form, for example, thefiring trigger assembly 2570 includes a first rotary drive trigger 2572that cooperates with a corresponding switch/contact (not shown) thatelectrically communicates with the motor assembly 2552 and which, uponactivation, causes the motor assembly 2552 to apply a first rotary drivemotion to the second driven gear 2558. In addition, the firing triggerassembly 2570 further includes a retraction drive trigger 2574 that ispivotal relative to the first rotary drive trigger. The retraction drivetrigger 2574 operably interfaces with a switch/contact (not shown) thatis in electrical communication with the motor assembly 2552 and which,upon activation, causes the motor assembly 2552 to apply a second rotarydrive motion to the second driven gear 2558. The first rotary drivemotion results in the rotation of the drive shaft assembly and theimplement drive shaft in the end effector to cause the firing member tomove distally in the end effector 3000. Conversely, the second rotarydrive motion is opposite to the first rotary drive motion and willultimately result in rotation of the drive shaft assembly and theimplement drive shaft in a rotary direction which results in theproximal movement or retraction of the firing member in the end effector3000.

The illustrated embodiment also includes a manually actuatable safetymember 2580 that is pivotally attached to the closure trigger actuationportion 2532 and is selectively pivotable between a first “safe”position wherein the safety member 2580 physically prevents pivotaltravel of the firing trigger assembly 2570 and a second “off” position,wherein the clinician can freely pivot the firing trigger assembly 2570.As can be seen in FIG. 51, a first dimple 2582 is provided in theclosure trigger actuation portion 2532 that corresponds to the firstposition of the safety member 2580. When the safety member 2580 is inthe first position, a detent (not shown) on the safety member 2580 isreceived within the first dimple 2582. A second dimple 2584 is alsoprovided in the closure trigger actuation portion 2532 that correspondsto the second position of the safety member 2580. When the safety member2580 is in the second position, the detent on the safety member 2580 isreceived within the second dimple 2582.

In at least some example forms, the surgical tool 2400 may include amechanically actuatable reversing system, generally designated as 2590,for mechanically applying a reverse rotary motion to the proximal driveshaft segment 380′ in the event that the motor assembly 2552 fails orbattery power is lost or interrupted. Such mechanical reversing system2590 may also be particularly useful, for example, when the drive shaftsystem components operably coupled to the proximal drive shaft segment380′ become jammed or otherwise bound in such a way that would preventreverse rotation of the drive shaft components under the motor poweralone. In at least one example form, the mechanically actuatablereversing system 2590 includes a reversing gear 2592 that is rotatablymounted on a shaft 2524A formed on the handle frame assembly 2520 inmeshing engagement with a second gear segment 2562 on the second drivengear 2558. See FIG. 53. Thus, the reversing gear 2592 freely rotates onshaft 2524A when the second driven gear 2558 rotates the proximal driveshaft segment 380′ of the drive shaft assembly.

In various example forms, the mechanical reversing system 2590 furtherincludes a manually actuatable driver 2594 in the form of a lever arm2596. As can be seen in FIGS. 56 and 57, the lever arm 2596 includes ayoke portion 2597 that has elongate slots 2598 therethrough. The shaft2524A extends through slot 2598A and a second opposing shaft 2598Bformed on the handle housing assembly 2520 extends through the otherelongate slot to movably affix the lever arm 2596 thereto. In addition,the lever arm 2596 has an actuator fin 2597 formed thereon that canmeshingly engage the reversing gear 2592. There is a detent orinterference that keeps the lever arm 2596 in the unactuated state untilthe clinician exerts a substantial force to actuate it. This keeps itfrom accidentally initiating if inverted. Other embodiments may employ aspring to bias the lever arm into the unactuated state. Various exampleembodiments of the mechanical reversing system 2590 further includes aknife retractor button 2600 that is movably journaled in the handleframe assembly 2520. As can be seen in FIGS. 56 and 57, the kniferetractor button 2600 includes a disengagement flap 2602 that isconfigured to engage the top of the second drive gear 2556. The kniferetractor button 2600 is biased to a disengaged position by a kniferetractor spring 2604. When in the disengaged position, thedisengagement flap 2602 is biased out of engagement with the seconddrive gear 2556. Thus, until the clinician desires to activate themechanical reversing system 2590 by depressing the knife retractorbutton 2600, the second drive gear 2556 is in meshing engagement withthe first gear segment 2559 of the second driven gear 2558.

When the clinician desires to apply a reverse rotary drive motion to theproximal drive shaft segment 380′, the clinician depresses the kniferetractor button 2600 to disengage the first gear segment 2559 on thesecond driven gear 2558 from the second drive gear 2556. Thereafter, theclinician begins to apply a pivotal ratcheting motion to the manuallyactuatable driver 2594 which causes the gear fin 2597 thereon to drivethe reversing gear 2592. The reversing gear 2592 is in meshingengagement with the second gear segment 2562 on the second driven gear2558. Continued ratcheting of the manually actuatable driver 2594results in the application of a reverse rotary drive motion to thesecond gear segment 2562 and ultimately to the proximal drive shaftsegment 380′. The clinician may continue to ratchet the driver 2594 foras many times as are necessary to fully release or reverse theassociated end effector component(s). Once a desired amount of reverserotary motion has been applied to the proximal drive shaft segment 380′,the clinician releases the knife retractor button 2600 and the driver2594 to their respective starting or unactuated positions wherein thefin 2597 is out of engagement with the reversing gear 2592 and thesecond drive gear 2556 is once again in meshing engagement with thefirst gear segment 2559 on the second driven gear 2558.

The surgical tool 2400 can also be employed with an electrosurgical endeffector comprising various rotary drive components that are drivendifferently with a rotary drive shaft at different axial positions.Examples of such end effectors and drive mechanisms are described hereinwith respect to FIGS. 64-82, 83-91 and 92-96. The surgical tool 2400 mayemploy a shifting system 2610 for selectively axially shifting theproximal drive shaft segment 380′ which moves the shaft gear 376 intoand out of meshing engagement with the first rotary driven gear 374. Forexample, the proximal drive shaft segment 380′ is movably supportedwithin the handle frame assembly 2520 such that the proximal drive shaftsegment 380′ may move axially and rotate therein. In at least oneexample form, the shifting system 2610 further includes a shifter yoke2612 that is slidably supported by the handle frame assembly 2520. SeeFIGS. 51 and 54. The proximal drive shaft segment 380′ has a pair ofcollars 386 (shown in FIGS. 51 and 55) thereon such that shifting of theshifter yoke 2612 on the handle frame assembly 2520 results in the axialmovement of the proximal drive shaft segment 380′. In at least one form,the shifting system 2610 further includes a shifter button assembly 2614operably interfaces with the shifter yoke 2612 and extends through aslot 2505 in the handle housing segment 2504 of the handle assembly2500. See FIGS. 62 and 63. A shifter spring 2616 is mounted with thehandle frame assembly 2520 such that it engages the proximal drive shaftsegment 380′. See FIGS. 54 and 61. The spring 2616 serves to provide theclinician with an audible click and tactile feedback as the shifterbutton assembly 2614 is slidably positioned between the first axialposition depicted in FIG. 62 wherein rotation of the drive shaftassembly results in rotation of the end effector 3000 about thelongitudinal tool axis “LT-LT” relative to the articulation joint 3500(illustrated in FIG. 67) and the second axial position depicted in FIG.63 wherein rotation of the drive shaft assembly results in the axialmovement of the firing member in the end effector (illustrated in FIG.66). Thus, such arrangement enables the clinician to easily slidablyposition the shifter button assembly 2614 while holding the handleassembly 2500. In some embodiments, the shifter button assembly 2500 mayhave more than two axial positions, corresponding to more than twodesired axial positions of the rotary drive shaft. Examples of suchsurgical tools are provided herein in conjunction with FIGS. 83-91 and92-96.

Referring to FIGS. 64-72, a multi-axis articulating and rotatingsurgical tool 600 comprises an end effector 550 comprising a first jawmember 602A and a second jaw member 602B. The first jaw member 602A ismovable relative to the second jaw member 602B between an open position(FIGS. 64, 66-69, 71) and a closed position (FIGS. 70 and 72) to clamptissue between the first jaw member 602A and the second jaw member 602B.The surgical tool 600 is configured to independently articulate about anarticulation joint 640 in a vertical direction (labeled direction V inFIGS. 64 and 66-72) and a horizontal direction (labeled direction H inFIGS. 64 and 65-68). Actuation of the articulation joint 640 may bebrought about in a manner similar to that described above with respectto FIGS. 24-26. The surgical tool 600 is configured to independentlyrotate about a head rotation joint 645 in a longitudinal direction(labeled direction H in FIGS. 64 and 66-72). The end effector 550comprises an I-beam member 620 and a jaw assembly 555 comprising thefirst jaw member 602A, the second jaw member 602B, a proximal portion603 of the second jaw member 602B, and a rotary drive nut 606 seated inthe proximal portion 603. The I-beam member 620 and jaw assembly 555 mayoperate in a manner described herein and similar to that described abovewith respect to the axially movable member 3016 and jaw members 3008A,3008B described herein above.

The end effector 550 is coupled to a shaft assembly 560 comprising anend effector drive housing 608, an end effector connector tube 610, anintermediate articulation tube segment 616, and a distal outer tubeportion 642. The end effector 550 and the shaft assembly 560 togethercomprise the surgical tool 600. The end effector 550 may be removablycoupled to the end effector drive housing 608 using a mechanism asdescribed, for example, in connection with FIGS. 106-115. The endeffector connector tube 610 comprises a cylindrical portion 612 and aball member 614. The end effector drive housing 608 is coupled to thecylindrical portion 612 of the end effector connector tube 610 throughthe head rotation joint 645. The end effector 550 and the end effectordrive housing 608 together comprise a head portion 556 of the surgicaltool 600. The head portion 556 of the surgical tool 600 is independentlyrotatable about the head rotation joint 645, as described in greaterdetail below.

The intermediate articulation tube segment 616 comprises a ball member618 and a ball socket 619. The end effector connector tube 610 iscoupled to the intermediate articulation tube segment 616 through aball-and-socket joint formed by the mutual engagement of the ball member614 of the end effector connector tube 610 and the ball socket 619 ofthe intermediate articulation tube segment 616. The intermediatearticulation tube segment 616 is coupled to the distal outer tubeportion 642 through a ball-and-socket joint formed by the mutualengagement of the ball member 618 of the intermediate articulation tubesegment 616 and a ball socket of the distal outer tube portion 642. Thearticulation joint 640 comprises the end effector connector tube 610,the intermediate articulation tube segment 616, and the distal outertube portion 642. The independent vertical articulation and/orhorizontal articulation of the surgical tool 600 about the articulationjoint 640 may be actuated, for example, using independently actuatablecable segments, such as 444, 445, 446, 447 described herein above,connected to the ball member 614 of the end effector connector tube 610.This independent articulation functionality is described, for example,in connection with FIGS. 24, 24A and 25. Robotic and hand-heldapparatuses for allowing a clinician to initiate articulationfunctionality are described, for example, in connection with FIGS. 6,16-21 and 46-50.

The movement of the first jaw member 602A relative to the second jawmember 602B between an open position (FIGS. 64, 66-69, and 71) and aclosed position (FIGS. 70 and 72) may be actuated with a suitableclosure actuation mechanism. Referring to FIGS. 73 and 74, closure ofthe jaw assembly 555 may be actuated by translation of the I-beam member620. The I-beam member 620 comprises a first I-beam flange 622A and asecond I-beam flange 622B. The first I-beam flange 622A and the secondI-beam flange 622B are connected with an intermediate portion 624. Theintermediate portion 624 of the I-beam member 620 comprises a cuttingmember 625, which is configured to transect tissue clamped between thefirst jaw member 602A and the second jaw member 602B when the jawassembly 555 is in a closed position. The I-beam member 620 isconfigured to translate within a first channel 601A in the first jawmember 602A and within a second channel 601B in the second jaw member602B. The first channel 601A comprises a first channel flange 605A, andthe second channel 601B comprises a second channel flange 605B. Thefirst I-beam flange 622A can define a first cam surface 626A, and thesecond I-beam flange 622B can define a second cam surface 626B. Thefirst and second cam surfaces 626A and 626B can slidably engageoutwardly-facing opposed surfaces of the first and second channelflanges 605A and 605B, respectively. More particularly, the first camsurface 626A can comprise a suitable profile configured to slidablyengage the opposed surface of the first channel flange 605A of the firstjaw member 602A and, similarly, the second cam surface 626B can comprisea suitable profile configured to slidably engage the opposed surface ofthe second channel flange 605B of the second jaw member 602B, such that,as the I-beam member 620 is advanced distally, the cam surfaces 626A and626B can co-operate to cam first jaw member 602A toward second jawmember 602B and move the jaw assembly 555 from an open position to aclosed position as indicated by arrow 629 in FIG. 74.

FIG. 73 shows the I-beam member 620 in a fully proximal position and thejaw assembly 555 in an open position. In the position shown in FIG. 73,the first cam surface 626A is engaging a proximal portion of anarcuate-shaped anvil surface 628, which mechanically holds the first jawmember 602A open relative to the second jaw member 602B (FIGS. 69 and71). Translation of the I-beam member 620 distally in a longitudinaldirection (labeled direction L in FIGS. 64 and 66-74) results in slidingengagement of the first cam surface 626A with the length of thearcuate-shaped anvil surface 628, which cams first jaw member 602Atoward second jaw member 602B until the first cam surface 626A isengaging a distal portion of the arcuate-shaped anvil surface 628. Afterthe distal translation of the I-beam member 620 for a predetermineddistance, the first cam surface 626A engages a distal portion of thearcuate-shaped anvil surface 628 and the jaw assembly is in the closedposition (FIG. 74). Thereafter, the I-beam member 620 can be furthertranslated distally in order to transect tissue clamped between thefirst jaw member 602A and the second jaw member 602B when in the closedposition.

During distal translation of the I-beam member 620 after closure of thejaw assembly, the first and second cam surfaces 626A and 626B of thefirst and second I-beam flanges 622A and 622B slidably engage theopposed surfaces of the first and second channel flanges 605A and 605B,respectively. In this manner, the I-beam member is advanced distallythrough the first and second channels 601A and 601B of the first andsecond jaw members 602A and 602B.

The distal, or leading, end of the I-beam member 620 comprises a cuttingmember 625, which may be a sharp edge or blade configured to cut throughclamped tissue during a distal translation stroke of the I-beam member,thereby transecting the tissue. FIGS. 72 and 70 show the I-beam member620 in a fully distal position after a distal translation stroke. Aftera distal translation stroke, the I-beam member 620 may be proximallyretracted back to the longitudinal position shown in FIG. 74 in whichthe jaw assembly remains closed, clamping any transected tissue betweenthe first jaw member 602A and the second jaw member 602B. Furtherretraction of the I-beam member to the fully proximal position (FIGS.69, 71, and 73) will result in engagement of the first cam surface 626Aand the proximal portion of the anvil surface 628, which cams the firstjaw member 602A away from the second jaw member 602B, opening the jawassembly 555.

Before, during, and/or after the I-beam member 620 is advanced throughtissue clamped between the first jaw member 602A and the second jawmember 602B, electrical current can be supplied to electrodes located inthe first and/or second jaw members 602A and 602B in order to weld/fusethe tissue, as described in greater detail in this specification. Forexample, electrodes may be configured to deliver RF energy to tissueclamped between the first jaw member 602A and the second jaw member 602Bwhen in a closed position to weld/fuse the tissue.

Distal and proximal translation of the I-beam member 620 between aproximally retracted position (FIGS. 64, 66-69, 71, and 73), anintermediate position (FIG. 74), and a distally advanced position (FIGS.70 and 72) may be accomplished with a suitable translation actuationmechanism. Referring to FIGS. 65-72, the I-beam member 620 is connectedto a threaded rotary drive member 604. A threaded rotary drive nut 606is threaded onto the threaded rotary drive member 604. The threadedrotary drive nut 606 is seated in the proximal portion 603 of the secondjaw member 602B. The threaded rotary drive nut 606 is mechanicallyconstrained from translation in any direction, but the threaded rotarydrive nut 606 is rotatable within the proximal portion 603 of the secondjaw member 602B. Therefore, given the threaded engagement of the rotarydrive nut 606 and the threaded rotary drive member 604, rotationalmotion of the rotary drive nut 606 is transformed into translationalmotion of the threaded rotary drive member 604 in the longitudinaldirection and, in turn, into translational motion of the I-beam member620 in the longitudinal direction.

The threaded rotary drive member 604 is threaded through the rotarydrive nut 606 and is located inside a lumen of a rotary drive shaft 630.The threaded rotary drive member 604 is not attached or connected to therotary drive shaft 630. The threaded rotary drive member 604 is freelymovable within the lumen of the rotary drive shaft 630 and willtranslate within the lumen of the rotary drive shaft 630 when driven byrotation of the rotary drive nut 606. The rotary drive shaft 630comprising the threaded rotary drive member 604 located within the lumenof the rotary drive shaft 630 forms a concentric rotary driveshaft/screw assembly that is located in the lumen of the shaft assembly560.

As shown in FIG. 65, the end effector drive housing 608, the endeffector connector tube 610, and the intermediate articulation tubesegment 616, which together comprise the shaft assembly 560, have openlumens and, therefore, the shaft assembly has a lumen, as shown in FIGS.66-68. Referring again to FIGS. 66-68, the concentric rotary driveshaft/threaded rotary drive member assembly is located within the lumenof the shaft assembly 560 and passes through the end effector drivehousing 608, the end effector connector tube 610, and the intermediatearticulation tube segment 616. Although not shown in FIGS. 66-68, atleast the rotary drive shaft 630 passes through a lumen of the distalouter tube portion 642 and is operably coupled to a driving mechanismthat provides rotational and axial translational motion to the rotarydrive shaft 630. For example, in some embodiments, the surgical tool 600may be operably coupled through the shaft assembly 560 to a roboticsurgical system that provides rotational motion and axial translationalmotion to the rotary drive shaft 630, such as, for example, the roboticsurgical systems described in connection with FIGS. 5 and 16-21. Forexample, the rotary drive shaft 630 may be operably coupled, through theshaft assembly 560, to the proximal drive shaft segment 380 describedherein above. Also, in some embodiments, the surgical tool 600 may beutilized in conjunction with a hand-held surgical device, such as thedevice described herein above with respect to FIGS. 46-63. For example,the rotary drive shaft 630 may be operably coupled, though the shaftassembly 560, to the proximal drive shaft segment 380′ described hereinabove.

The rotary drive shaft 630 comprises a rotary drive head 632. The rotarydrive head 632 comprises a female hex coupling portion 634 on the distalside of the rotary drive head 632, and the rotary drive head 632comprises a male hex coupling portion 636 on the proximal side of therotary drive head 632. The distal female hex coupling portion 634 of therotary drive head 632 is configured to mechanically engage with a malehex coupling portion 607 of the rotary drive nut 606 located on theproximal side of the rotary drive nut 606. The proximal male hexcoupling portion 636 of the rotary drive head 632 is configured tomechanically engage with a female hex shaft coupling portion 609 of theend effector drive housing 608.

Referring to FIGS. 66, 67, 69, and 70, the rotary drive shaft 630 isshown in a fully distal axial position in which the female hex couplingportion 634 of the rotary drive head 632 is mechanically engaged withthe male hex coupling portion 607 of the rotary drive nut 606. In thisconfiguration, rotation of the rotary drive shaft 630 actuates rotationof the rotary drive nut 606, which actuates translation of the threadedrotary drive member 604, which actuates translation of the I-beam member620. The orientation of the threading of the threaded rotary drivemember 604 and the rotary drive nut 606 may be established so thateither clockwise or counterclockwise rotation of the rotary drive shaft630 will actuate distal or proximal translation of the threaded rotarydrive member 604 and I-beam member 620. In this manner, the direction,speed, and duration of rotation of the rotary drive shaft 630 can becontrolled in order to control the direction, speed, and magnitude ofthe longitudinal translation of the I-beam member 620 and, therefore,the closing and opening of the jaw assembly and the transection strokeof the I-beam member along the first and second channels 601A and 601B,as described above.

Referring to FIG. 69, for example, rotation of the rotary drive shaft630 in a clockwise direction (as viewed from a proximal-to-distalvantage point) actuates clockwise rotation of the rotary drive nut 606,which actuates distal translation of the threaded rotary drive member604, which actuates distal translation of the I-beam member 620, whichactuates closure of the jaw assembly and a distal transection stroke ofthe I-beam member 620/cutting member 625. Referring to FIG. 70, forexample, rotation of the rotary drive shaft 630 in a counterclockwisedirection (as viewed from a proximal-to-distal vantage point) actuatescounterclockwise rotation of the rotary drive nut 606, which actuatesproximal translation of the threaded rotary drive member 604, whichactuates proximal translation of the I-beam member 620, which actuates aproximal return stroke of the I-beam member 620/cutting member 625 andopening of the jaw assembly. In this manner, the rotary drive shaft 630may be used to independently actuate the opening and closing of the jawassembly and the proximal-distal transection stroke of the I-beam620/cutting member 625.

Referring to FIGS. 68, 71, and 72, the rotary drive shaft 630 is shownin a fully proximal axial position in which the male hex couplingportion 636 of the rotary drive head 632 is mechanically engaged withthe female hex shaft coupling portion 609 of the end effector drivehousing 608. In this configuration, rotation of the rotary drive shaft630 actuates rotation of the head portion 556 of the surgical tool 600about rotation joint 645, including rotation of the end effector 550 andthe end effector drive housing 608. In this configuration, the portionof the surgical tool 600 that is distal to the head rotation joint 645(i.e., the head portion 556 of the surgical tool 600, comprising the endeffector 550 and the end effector drive housing 608) rotates withrotation of the rotary drive shaft 630, and the portion of the surgicaltool that is proximal to the head rotation joint 645 (e.g., the endeffector connector tube 610, the intermediate articulation tube segment616, and the distal outer tube portion 642) does not rotate withrotation of the rotary drive shaft 630. It will be appreciated that adesired rotation speed of the rotary drive shaft 630 to drive the rotarydrive nut 606 may be greater than a desired rotational speed forrotating the head portion 556. For example, the rotary drive shaft 630may be driven by a motor (not shown) that is operable at differentrotary speeds.

Referring to FIG. 71, for example, rotation of the rotary drive shaft630 in a clockwise direction (as viewed from a proximal-to-distalvantage point) actuates clockwise rotation of the end effector 550 andthe end effector drive housing 608 (i.e., the head portion 556 of thesurgical tool 600) with the jaw assembly 555 in an open position.Rotation of the rotary drive shaft 630 in a counterclockwise direction(as viewed from a proximal-to-distal vantage point) actuatescounterclockwise rotation of the end effector 550 and the end effectordrive housing 608 with the jaw assembly 555 in an open position.Referring to FIG. 72, for example, rotation of the rotary drive shaft630 in a clockwise direction (as viewed from a proximal-to-distalvantage point) actuates clockwise rotation of the end effector 550 andthe end effector drive housing 608 with the jaw assembly 555 in a closedposition. Rotation of the rotary drive shaft 630 in a counterclockwisedirection (as viewed from a proximal-to-distal vantage point) actuatescounterclockwise rotation of the end effector 550 and the end effectordrive housing 608 with the jaw assembly 555 in a closed position.Although not shown, it is understood that the I-beam member 620 may belocated in an intermediate position where the jaw assembly is closed butthe I-beam is not fully distally advanced (see, e.g., FIG. 74) when therotary drive shaft 630 is in a fully proximal axial position and themale hex coupling portion 636 of the rotary drive head 632 ismechanically engaged with the female hex shaft coupling portion 609 ofthe end effector drive housing 608 to actuate rotation of the headportion of the surgical tool.

Thus, the rotary drive shaft 630 may be used to independently actuatethe opening and closing of the jaw assembly, the proximal-distaltransection stroke of the I-beam 620/cutting member 625, and therotation of the head portion 556 of the surgical tool 600 d.

In various embodiments, a surgical tool may comprise an end effector, afirst actuation mechanism, and a second actuation mechanism. Thesurgical tool may also comprise a clutch member configured toselectively engage and transmit rotary motion to either the firstactuation mechanism or the second actuation mechanism. For example, invarious embodiments, a clutch member may comprise a rotary drive shaftcomprising a rotary drive head as described, for example, in connectionwith FIGS. 64-72. In various embodiments, a first actuation mechanismmay comprise an I-beam member connected to a threaded rotary drivemember threaded through a rotary drive nut, as described, for example,in connection with FIGS. 64-74, wherein the I-beam, the threaded rotarydrive member, and the rotary drive nut are configured to actuate theclosing and opening of a jaw assembly and/or the translation of acutting member. In various embodiments, a second actuation mechanism maycomprise a shaft coupling portion, as described, for example, inconnection with FIGS. 64-72, wherein the shaft coupling portion isconfigured to actuate rotation of a head portion of a surgical tool.

In various embodiments, a surgical tool may comprise an end effectorcomprising a first jaw member, a second jaw member, and a firstactuation mechanism configured to move the first jaw member relative tothe second jaw member between an open position and a closed position.The surgical tool may also comprise a shaft assembly proximal to thesurgical end effector. The surgical tool may also comprise a rotarydrive shaft. The rotary drive shaft may be configured to transmit rotarymotions and may also be selectively moveable between a first positionand a second position relative to the shaft assembly. The rotary driveshaft may be configured to engage and selectively transmit the rotarymotions to the first actuation mechanism when in the first position andthe rotary drive shaft may be configured to disengage from the actuationmechanism when in the second position. For example, in variousembodiments, the first actuation mechanism may comprise an I-beam memberconnected to a threaded rotary drive member threaded through a rotarydrive nut, as described, for example, in connection with FIGS. 64-74,wherein the I-beam, the threaded rotary drive member, and the rotarydrive nut are configured to actuate the closing and opening of a jawassembly when the rotary drive shaft engages and selectively transmitsrotary motion to the drive nut.

In various embodiments, a surgical tool may comprise a surgical endeffector comprising a first jaw member, a second jaw member, and aclosure mechanism configured to move the first jaw member relative tothe second jaw member between an open position and a closed position.The surgical tool may also comprise a shaft assembly proximal to thesurgical end effector, wherein the surgical end effector is configuredto rotate relative to the shaft assembly. The surgical tool may alsocomprise a rotary drive shaft configured to transmit rotary motions, therotary drive shaft selectively movable axially between a first positionand a second position relative to the shaft assembly, wherein the rotarydrive shaft is configured to apply the rotary motions to the closuremechanism when in the first axial position, and wherein the rotary driveshaft is configured to apply the rotary motions to the surgical endeffector when in the second axial position. For example, in variousembodiments, the first axial position may correspond to the rotary driveshaft being in a fully distal axial position in which a rotary drivehead is mechanically engaged with a rotary drive nut as described, forexample, in connection with FIGS. 64-72. In various embodiments, thesecond axial position may correspond to the rotary drive shaft being ina fully proximal axial position in which a rotary drive head ismechanically engaged with a shaft coupling portion of a shaft member asdescribed, for example, in connection with FIGS. 64-72.

In various embodiments, a surgical tool comprising an end effector, afirst actuation mechanism, and a second actuation mechanism, may furthercomprise a head locking mechanism. For example, referring to FIGS.75-82, a multi-axis articulating and rotating surgical tool 650comprises an end effector 570, a shaft assembly 580, and a head lockingmechanism 590. The end effector 570 comprises a first jaw member 652Aand a second jaw member 652B. The first jaw member 602A is movablerelative to the second jaw member 602B between an open position (FIGS.77 and 79) and a closed position (FIGS. 78 and 80) to clamp tissuebetween the first jaw member 652A and the second jaw member 652B. Thesurgical tool 650 is configured to independently articulate about anarticulation joint in a vertical direction and a horizontal directionlike the surgical tool 600 shown in FIGS. 64-72. The surgical tool 650is also configured to independently rotate about a head rotation jointlike the surgical tool 600 shown in FIGS. 64-72. The end effector 570comprises an I-beam member 670 and a jaw assembly 575 comprising thefirst jaw member 652A, the second jaw member 652B, a proximal portion653 of the second jaw member 652B, and a rotary drive nut 656 seated inthe proximal portion 653.

The end effector 570 is coupled to a shaft assembly 580 comprising anend effector drive housing 658, an end effector connector tube 660, anintermediate articulation tube segment 666, and a surgical tool shaftmember (not shown). The end effector 570 and the shaft assembly 580together comprise the surgical tool 650. The end effector 570 may beremovably coupled to the end effector drive housing 658 using amechanism as described, for example, in connection with FIGS. 106-115.The end effector drive housing 608 is coupled to the end effectorconnector tube 660 through the head rotation joint. The end effector 570and the end effector drive housing 658 together comprise a head portion578 of the surgical tool 650. The head portion 578 of the surgical tool650 is independently rotatable about the head rotation joint, asdescribed in greater detail above in connection FIGS. 64-72 showing thesurgical tool 600.

The end effector connector tube 660 is coupled to the intermediatearticulation tube segment 666 through a ball-and-socket joint formed bythe mutual engagement of the ball member of the end effector connectortube 660 and the ball socket of the intermediate articulation tubesegment 666. The intermediate articulation tube segment 666 is coupledto a surgical tool shaft member through a ball-and-socket joint formedby the mutual engagement of the ball member of the intermediatearticulation tube segment 616 and a ball socket of the surgical toolshaft member. The articulation joint comprises the end effectorconnector tube 660, the intermediate articulation tube segment 666, andthe surgical tool shaft member. The independent vertical articulationand/or horizontal articulation of the surgical tool 650 about thearticulation joint may be actuated, for example, using independentlyactuatable drive cables connected to the ball member of the end effectorconnector tube 660. This independent articulation functionality isdescribed, for example, in connection with FIGS. 24-25. Robotic andhand-held apparatuses for allowing a clinician to initiate articulationfunctionality are described, for example, in connection with FIGS. 6,16-21 and 46-50.

The movement of the first jaw member 652A relative to the second jawmember 652B is actuated using the same actuation mechanism describedabove in connection with FIGS. 73 and 74. Distal and proximaltranslation of the I-beam member 670 between a proximally retractedposition (FIGS. 77 and 79), an intermediate position (see FIG. 74), anda distally advanced position (FIGS. 78 and 80) may be accomplished witha suitable translation actuation mechanism. Referring to FIGS. 75-80,the I-beam member 670 is connected to a threaded rotary drive member654. A threaded rotary drive nut 656 is threaded onto the threadedrotary drive member 654. The threaded rotary drive nut 656 is seated inthe proximal portion 653 of the second jaw member 652B. The threadedrotary drive nut 656 is mechanically constrained from translation in anydirection, but is rotatable within the proximal portion 653 of thesecond jaw member 652B. Therefore, given the threaded engagement of therotary drive nut 656 and the threaded rotary drive member 654,rotational motion of the rotary drive nut 656 is transformed intotranslational motion of the threaded rotary drive member 654 in thelongitudinal direction and, in turn, into translational motion of theI-beam member 670 in the longitudinal direction.

The threaded rotary drive member 654 is threaded through the rotarydrive nut 656 and is located inside a lumen of a rotary drive shaft 680.The threaded rotary drive member 654 is not attached or connected to therotary drive shaft 680. The threaded rotary drive member 654 is freelymovable within the lumen of the rotary drive shaft 680 and willtranslate within the lumen of the rotary drive shaft 680 when driven byrotation of the rotary drive nut 656. The rotary drive shaft 680comprising the threaded rotary drive member 654 located within the lumenof the rotary drive shaft 680 forms a concentric rotary driveshaft/screw assembly that is located in the lumen of the shaft assembly580.

Referring to FIGS. 77-80, the concentric rotary drive shaft/screwassembly is located within the lumen of the shaft assembly 560 andpasses through the end effector drive housing 658, the end effectorconnector tube 660, and the intermediate articulation tube segment 666.Although not shown in FIGS. 77-80, at least the rotary drive shaft 680passes through a lumen of the surgical tool shaft member and is operablycoupled to a driving mechanism that provides rotary motion and axialtranslational motion to the rotary drive shaft 680. For example, in someembodiments, the surgical tool 650 may be operably coupled through theshaft assembly 580 to a robotic surgical system that provides rotarymotion and axial translational motion to the rotary drive shaft 680,such as, for example, the robotic surgical systems described inconnection with FIGS. 5 and 16-21. In some embodiments, for example, thesurgical tool 650 may be operably coupled through the shaft assembly 580to a hand-held surgical device that provides rotary motion and axialtranslational motion to the rotary drive shaft 680, such as, forexample, the hand-held surgical devices described in connection withFIGS. 46-63. In some embodiments, the threaded rotary drive member 654has a length that is less than the length of the rotary drive shaft 680and, therefore, lies within only a distal portion of the rotary driveshaft 680.

The threaded rotary drive member 654 and the rotary drive shaft 680 areflexible so that the portions of the threaded rotary drive member 654and the rotary drive shaft 680 that are located in the articulationjoint can bend without damage or loss of operability during independentarticulation of the surgical tool 650 about the articulation joint.Example configurations of the rotary drive shaft 680 are provided hereinwith reference to FIGS. 28-45.

The rotary drive shaft 680 comprises a rotary drive head 682. The rotarydrive head 682 comprises a female hex coupling portion 684 on the distalside of the rotary drive head 682, and the rotary drive head 682comprises a male hex coupling portion 686 on the proximal side of therotary drive head 682. The distal female hex coupling portion 684 of therotary drive head 682 is configured to mechanically engage with a malehex coupling portion 657 of the rotary drive nut 656 located on theproximal side of the rotary drive nut 656. The proximal male hexcoupling portion 686 of the rotary drive head 682 is configured tomechanically engage with a female hex shaft coupling portion 659 of theend effector drive housing 658.

Referring to FIGS. 77 and 78, the rotary drive shaft 680 is shown in afully distal axial position in which the female hex coupling portion 684of the rotary drive head 682 is mechanically engaged with the male hexcoupling portion 657 of the rotary drive nut 656. In this configuration,rotation of the rotary drive shaft 680 actuates rotation of the rotarydrive nut 656, which actuates translation of the threaded rotary drivemember 654, which actuates translation of the I-beam member 670.Referring to FIGS. 79 and 80, the rotary drive shaft 680 is shown in afully proximal axial position in which the male hex coupling portion 686of the rotary drive head 682 is mechanically engaged with the female hexshaft coupling portion 659 of the end effector drive housing 658. Inthis configuration, rotation of the rotary drive shaft 680 actuatesrotation of the head portion 578 of the surgical tool 650 about rotationjoint, including rotation of the end effector 570 and the end effectordrive housing 658.

The rotary drive shaft 680 also comprises a spline lock 690. The splinelock 690 is coupled to the rotary drive shaft 680 using shaft flanges685. The spline lock 690 is mechanically constrained from translation inany direction by the rotary drive shaft 680 and the shaft flanges 685,but the spline lock 690 is freely rotatable about the rotary drive shaft680. The spline lock 690 comprises spline members 692 disposedcircumferentially around the external surface of the spline lock 690 andoriented co-axially with the shaft assembly 580. As shown in FIGS. 75and 76, the spline lock 690 is located at the rotational joint formed bythe coupling of the end effector drive housing 658 and the end effectorconnector tube 660. The end effector drive housing 658 comprises aspline coupling portion 694 comprising spline members 696 disposedcircumferentially around the internal surface of the end effector drivehousing 658 and oriented co-axially with the shaft assembly 580. The endeffector connector tube 660 comprises a spline coupling portion 662comprising spline members 664 disposed circumferentially around theinternal surface of the end effector connector tube 660 and orientedco-axially with the shaft assembly 580.

The spline members 692, 696, and 664 of the spline lock 690, the endeffector drive housing 658, and the end effector connector tube 660,respectively, are configured to mechanically engage with each other whenthe rotary drive shaft 680 is in a fully distal axial position in whichthe female hex coupling portion 684 of the rotary drive head 682 ismechanically engaged with the male hex coupling portion 657 of therotary drive nut 656 to drive rotation of the rotary drive nut 656 andtranslation of the threaded rotary drive member 654 and the I-beammember 670 (FIGS. 77, 78, and 82). The mechanical engagement of therespective spline members 692, 696, and 664 locks the end effector drivehousing 658 into position with the end effector connector tube 660,thereby locking the rotational joint and preventing rotation of the headportion 578 of the surgical tool 650. Because the spline lock 690 isfreely rotatable about the rotary drive shaft 680, the mechanicalengagement of the respective spline members 692, 696, and 664 does notprevent the rotary drive shaft 680 from actuating the rotary drive nut656, the threaded rotary drive member 654, and the I-beam member 670.

When the rotary drive shaft 680 is in a fully proximal axial position inwhich the male hex coupling portion 686 of the rotary drive head 682 ismechanically engaged with the female hex shaft coupling portion 659 ofthe end effector drive housing 658 to drive rotation of the head portion578 of the surgical tool 650, the spline lock 690 is completelyretracted into the lumen of the end effector connector tube 660 and thespline lock 690 is completely disengaged from the spline couplingportion 694 of the end effector drive housing 658. (FIGS. 79, 80, and81). In this configuration, the spline members 692 of the spline lock690 and the spline members 664 of the end effector connector tube 660are completely engaged, and the spline members 692 of the spline lock690 and the spline members 696 of the end effector drive housing 658 arecompletely disengaged. The mechanical disengagement of the splinemembers 692 of the spline lock 690 and the spline members 696 of the endeffector drive housing 658 when the rotary drive shaft 680 is in a fullyproximal axial position unlocks the end effector drive housing 658 fromthe end effector connector tube 660, thereby unlocking the rotationaljoint and permitting rotation of the head portion 578 of the surgicaltool 650. Because the spline lock 690 is freely rotatable about therotary drive shaft 680, the mechanical engagement of spline members 692of the spline lock 690 and the spline members 664 of the end effectorconnector tube 660 does not prevent the rotary drive shaft 680 fromactuating the rotation of the head portion 578 of the surgical tool 650.

The head locking mechanism 590 ensures that the head portion 578 of thesurgical tool 650 does not rotate when the rotary drive shaft 680 is ina fully distal axial position engaging the rotary drive nut 656 to driveactuation of the jaw closure mechanism and/or the I-beam translationmechanism as described above (FIGS. 77, 78, and 82). The head lockingmechanism 590 ensures that the head portion 578 of the surgical tool 650is freely rotatable when the rotary drive shaft 680 is in a fullyproximal axial position engaging the shaft coupling portion 659 of theend effector drive housing 658 to drive actuation of head rotation asdescribed above (FIGS. 79, 80, and 81).

Referring to FIGS. 77 and 78, for example, rotation of the rotary driveshaft 680 actuates rotation of the rotary drive nut 656, which actuatesdistal or proximal translation of the threaded rotary drive member 654(depending on the direction of rotary motion of the rotary drive shaft680), which actuates distal or proximal translation of the I-beam member670, which actuates the closing and opening of the jaw assembly 575, anddistal and proximal transection strokes of the I-beam member 670/cuttingmember 675. Simultaneously, the spline lock 690 engages both the endeffector drive housing 658 and the end effector connector tube 660 toprevent unintended head rotation.

Referring to FIGS. 79 and 80, for example, rotation of the rotary driveshaft 680 actuates rotation of the end effector drive housing 658, whichactuates rotation of the end effector 570. Simultaneously, the splinelock 690 is disengaged both the end effector drive housing 658 and doesnot prevent head rotation. Thus, the rotary drive shaft 680 may be usedto independently actuate the opening and closing of the jaw assembly575, the proximal-distal transection stroke of the I-beam 670/cuttingmember 675, and the rotation of the head portion 578 of the surgicaltool 650.

In various embodiments, an end effector, such as the end effectors 550and 570 shown in FIGS. 64-82, may comprise first and second jaw memberscomprising a first and second distal textured portions, respectively.The first and second distal textured portions of the first and secondjaw members of an end effector may be opposed and may allow the endeffector to grip, pass, and/or manipulate surgical implements such asneedles for suturing tissue, in addition to gripping tissue, forexample, during dissection operations. In some embodiments, the distaltextured portions may also be electrodes configured, for example, todeliver RF energy to tissue during dissection operations. This gripping,passing, manipulating, and/or dissecting functionality is described, forexample, in connection with FIGS. 153-168.

In various embodiments, an end effector, such as the end effectors 550and 570 shown in FIGS. 64-82, may comprise first and second jaw memberscomprising first and second gripping portions disposed on outwardlyfacing surfaces of the first and second jaw members. The first andsecond gripping portions of the first and second jaw members of an endeffector may function to aid in tissue dissection as described, forexample, in connection with FIGS. 116-131.

In various embodiments, an end effector, such as the end effectors 550and 570 shown in FIGS. 64-82, may comprise at least one electrodedisposed on at least one tissue-contacting surface of at least one jawmember. The electrodes may be configured, for example, to deliver RFenergy to tissue clamped between the jaw members when in a closedposition to weld/fuse the tissue, which in some embodiments, may also betransected by translating an I-beam member comprising a cutting member.In some embodiments, a second jaw member may also comprises an offsetelectrode located at the distal tip of the jaw member, the electrodeconfigured to deliver RF energy to tissue during dissection operations,for example. This electrode functionality is described, for example, inconnection with 153-168.

In various embodiments, an end effector, such as the end effectors 550and 570 shown in FIGS. 64-82, may comprise jaw members comprising angledtissue-contacting surfaces as described, for example, in connection withFIGS. 132-142.

Referring to FIGS. 83-91, a multi-axis articulating and rotatingsurgical tool 1200 comprises an end effector 1202 including a jawassembly 1211 comprising a first jaw member 1204 and a second jaw member1206. The first jaw member 1204 is movable relative to the second jawmember 1206 between an open position and a closed position to clamptissue between the first jaw member 1204 and the second jaw member 1206.The surgical tool 1200 is configured to independently articulate aboutan articulation joint 1208. As described above, the surgical tool 1200is also configured to independently rotate about a head rotation joint1210. Referring primarily to FIG. 83, the end effector 1202 furthercomprises a proximal shaft portion 1212.

The end effector 1202 is coupled to a shaft assembly 1214 comprising anend effector drive housing 1216, an end effector connector tube 1218, anintermediate articulation tube segment 1220, and a distal outer tubeportion (not shown in FIGS. 83-91). The end effector 1202 and the shaftassembly 1214 together can comprise the surgical tool 1200. The endeffector 1202 may be removably coupled to the end effector drive housing1216 using a mechanism as described, for example, in connection withFIGS. 106-115. The end effector connector tube 1218 comprises acylindrical portion 1222 and a ball portion 1224. The end effector drivehousing 1216 is coupled to the cylindrical portion 1222 of the endeffector connector tube 1218 through the head rotation joint 1210. Theend effector 1202 and the end effector drive housing 1216 togethercomprise a head portion of the surgical tool 1200. The head portion ofthe surgical tool 1200 is independently rotatable about the headrotation joint 1210.

Referring primarily to FIGS. 85-87, the surgical tool 1200 may include aclosure mechanism 1226 for moving the first jaw member 1204 relative tothe second jaw member 1206 between an open position (FIG. 86) and aclosed position (FIG. 87). As illustrated in FIG. 83, the first jawmember 1204 may include first mounting holes 1228, and the second jawmember 1206 may include second mounting holes (not shown in FIGS.83-91). The first jaw member 1204 can be arranged relative to the secondjaw member 1206 such that a pivot or trunnion pin (not shown in FIGS.83-91) extends through the first mounting, holes 1228 of the first jawmember 1204 and the second mounting holes of the second jaw member 1206to pivotally couple the first jaw member 1204 to the second jaw member1206. Other suitable means for coupling, the first jaw member 1204 andthe second jaw member 1206 are within the scope of this disclosure.

Referring to FIGS. 83-91, the closure mechanism 1226 may comprise alinkage arrangement which may comprise a first link 1230 and a secondlink (not shown in FIGS. 83-91). The closure mechanism 1226 may alsocomprise a closure driver in the form of a closure nut 1232 for example.The closure nut 1232 (FIG. 84) may be at least partially positionedwithin the end effector drive housing 1216. In use, the closure nut 1232may translate axially between a first position (FIG. 86) and a secondposition (FIG. 87) relative to the end effector drive housing 1216 andmay include a first arm 1234 and a second arm 1236. Referring primarilyto FIG. 84, the first arm 1234 and the second arm 1236 may extenddistally from a distal portion 1238 of the closure nut 1232, wherein thefirst arm 1234 may comprise a first opening 1240 and the first arm 1234may be pivotally connected to the first link 1230 by a first pin 1242through the first opening 1240. Similarly, the second arm 1236 maycomprise a second opening 1244, wherein the second arm 1236 may bepivotally connected to the second link by a second pin (not shown inFIGS. 83-91) through the second opening 1244. The first link 1230 andthe second link (not shown in FIGS. 83-91) are also pivotally connectedto the first jaw member 1204 such that when the closure nut 1232 isadvanced distally from the first position (FIG. 86) to the secondposition (FIG. 87), the first jaw member 1204 is pivoted relative to thesecond jaw member 1206 towards a closed position. Correspondingly, whenthe closure nut 1232 is retracted proximally from the second position(FIG. 89) to the first position (FIG. 91), the first jaw member 1204 ispivoted relative to the second jaw member 1206 towards the openposition. FIG. 85 illustrates the closure nut 1232 in a first positionand the jaw assembly 1211 in an open position. FIG. 87 shows the closurenut 1232 in a second position and the jaw assembly 1211 in a closedposition. The closure nut 1232, however, may be constrained fromrotation relative to the end effector drive housing 1316 by an indexingfeature, for example, abutting against the end effector drive housing11316.

Referring to FIGS. 83-91, the surgical tool 1200 may include a firingmechanism 1246 having a suitable firing driver. The firing mechanism1246 may include an I-beam member 1247, a threaded drive member 1248,and a threaded rotary drive nut 1250. The I-beam member 1247 maycomprise a first I-beam flange 1252 and a second I-beam flange 1254. TheI-beam member 1247 may operate in a manner similar to that describedabove with respect to the axially movable member 3016 described hereinabove. For example, the first I-beam flange 1252 and the second I-beamflange 1254 are connected with an intermediate portion 1256. Theintermediate portion 1256 of the I-beam member 1247 may comprise acutting member 1258 on a distal or a leading end thereof. The I-beammember 1247 is configured to translate within a first channel 1260 inthe first jaw member 1204 and within a second channel 1262 in the secondjaw member 1206. FIG. 84 shows the I-beam member 1247 in a fullyproximal position and the jaw assembly 1211 in an open position. TheI-beam member 1247 may be translated distally in order for the cuttingmember 1258 to transect tissue clamped between the first jaw member 1204and the second jaw member 1206 when in the closed position. The cuttingmember 1258, which may comprise a sharp edge or blade for example, isconfigured to cut through clamped tissue during a distal translation(firing) stroke of the I-beam member 1247, thereby transecting thetissue. FIG. 88 shows the I-beam member 1247 in a fully distal positionafter a firing stroke.

Before, during, and/or after the I-beam member 1247 is advanced throughtissue clamped between the first jaw member 1204 and the second jawmember 1206, electrical current can be supplied to electrodes located inthe first jaw member 1204 and/or second jaw member 1206 in order toweld/fuse the tissue, as described in greater detail in thisspecification. For example, electrodes may be configured to deliver RFenergy to tissue clamped between the first jaw member 1204 and thesecond jaw member 1206 when in a closed position to weld/fuse thetissue.

Distal and proximal translation of the I-beam member 1247 between aproximally retracted position and a distally advanced position may beaccomplished with a suitable firing mechanism 1246. Referring to FIGS.83-91, the I-beam member 1247 is connected to the threaded drive member1248, wherein the threaded rotary drive nut 1250 is in a threadedengagement with the threaded drive member 1248. Referring primarily toFIG. 83, the threaded rotary drive nut 1250 is positioned within in theend effector drive housing 1216 proximal to the closure nut 1232 betweena proximal annular flange 1264 and a distal annular flange 1266. Thethreaded rotary drive nut 1250 is mechanically constrained fromtranslation in any direction, but is rotatable within the end effectordrive housing 1216 around a central axis A. Therefore, given thethreaded engagement of the rotary drive nut 1250 and the threaded drivemember 1248, rotational motion of the rotary drive nut 1250 istransformed into translational motion of the threaded drive member 1248along the central axis A and, in turn, into translational motion of theI-beam member 1247 along the central axis A.

The threaded drive member 1248 is threaded through the rotary drive nut1250 and is located at least partially inside a lumen 1268 of a rotarydrive shaft 1270. The threaded drive member 1248 is not attached orconnected to the rotary drive shaft 1270. In use, the threaded drivemember 1248 is freely movable within the lumen of the rotary drive shaft1270 and will translate within the lumen of the rotary drive shaft 1270when driven by rotation of the rotary drive nut 1250. The rotary driveshaft 1270 and the threaded drive member 1248 form a concentric rotarydrive shaft/screw assembly that is located in the shaft assembly 1214.In addition, the threaded drive member 1248 extends distally through alumen 1272 of the closure nut 1232. Similar to the above, the threadeddrive member 1248 is freely movable within the lumen 1272 of the closurenut 1232, and, as a result, the threaded drive member 1248 willtranslate within the lumen 1272 of the closure nut 1232 when driven byrotation of the rotary drive nut 1250.

Referring to FIGS. 83-91, the rotary drive nut 1250 may comprise athreaded distal portion 1274. The closure nut 1232 may comprise athreaded proximal portion 1276. The threaded distal portion 1274 of therotary drive nut 1250 and the threaded proximal portion 1276 of theclosure nut 1232 are in a threaded engagement. As described above, thethreaded rotary drive nut 1250 is mechanically constrained fromtranslation in any direction, but is rotatable within the end effectordrive housing 1216 around a central axis A. Therefore, given thethreaded engagement of the rotary drive nut 1250 and the closure nut1232, the rotational motion of the rotary drive nut 1250 is transformedinto translational motion of the closure nut 1232 along the central axisA and, in turn, into pivotal motion in the jaw assembly 1211.

As shown in FIG. 83, the end effector drive housing 1216, the endeffector connector tube 1218, and the intermediate articulation tubesegment 1220, which together comprise the shaft assembly 1214, have openlumens and, therefore, the shaft assembly 1214 comprises a lumenextending longitudinally therethrough, as shown in FIGS. 83 and 85-91.Referring again to FIGS. 83 and 85-91, the concentric rotary driveshaft/threaded drive member assembly is located within the lumen of theshaft assembly 1214 and passes through the end effector drive housing1216, the end effector connector tube 1218, and the intermediatearticulation tube segment 1220. Although not shown in FIGS. 83-91, atleast the rotary drive shaft 1270 passes through a lumen of the shaftassembly 1214 and is operably coupled to a driving mechanism thatprovides rotational motion and axial translational motion to the rotarydrive shaft 1270. For example, in some embodiments, the surgical tool1200 may be operably coupled through the shaft assembly 1214 to arobotic surgical system that provides rotational motion and axialtranslational motion to the rotary drive shaft 1270, such as, forexample, the robotic surgical systems described in connection with FIGS.5 and 16-21. For example, the rotary drive shaft 1270 may be coupled,through the shaft assembly, to the proximal drive shaft segment 380described herein above. In some embodiments, for example, the surgicaltool 1200 may be operably coupled through the shaft assembly 1214 to ahand-held surgical device, such as the device described herein abovewith respect to FIGS. 46-63. For example, the rotary drive shaft 1270may be operably coupled, though the shaft assembly 560, to the proximaldrive shaft segment 380′ described herein above.

In some embodiments, the threaded drive member 1248 has a length that isless than the length of the rotary drive shaft 1270 and, therefore, lieswithin only a distal portion of the rotary drive shaft 1270, forexample. The threaded drive member 1248 and the rotary drive shaft 1270may be flexible so that the threaded drive member 1248 and the rotarydrive shaft 1270 can bend without damage or loss of operability duringarticulation of the surgical tool 1200 about the articulation joint1208.

Described in greater detail elsewhere in the specification, the rotarydrive shaft 1270 may comprise a rotary drive head 1278. The rotary drivehead 1278 comprises a female hex coupling portion 1280 on the distalside of the rotary drive head 1278 and the rotary drive head 1278comprises a male hex coupling portion 1282 on the proximal side of therotary drive head 1278. The distal female hex coupling portion 1280 ofthe rotary drive head 1278 is configured to mechanically engage with amale hex coupling portion 1284 of the rotary drive nut 1250 located onthe proximal side of the rotary drive nut 1250. As described elsewhere,the proximal male hex coupling portion 1282 of the rotary drive head1278 is configured to mechanically engage with a female hex couplingportion 1286 of the end effector drive housing 1216 in order to rotatethe end effector 1202 around the central axis A.

Referring to FIG. 85, the rotary drive shaft 1270 is shown in a fullyproximal axial position in which the hex coupling portion 1282 of therotary drive head 1278 is mechanically engaged with the female hex shaftcoupling portion of the end effector drive housing 1216. In thisconfiguration, rotation of the rotary drive shaft 1270 causes rotationof the head portion of the surgical tool 1200 about the head rotationjoint 1210, including rotation of the end effector 1202 and the endeffector drive housing 1216. In this configuration, the portion of thesurgical tool 1200 that is distal to the head rotation joint 1210 (e.g.,a head portion) rotates with rotation of the rotary drive shaft 1270,and the portion of the surgical tool 1200 that is proximal to the headrotation joint 1210 does not rotate with rotation of the rotary driveshaft 1270. An example of a head rotation joint 1210 is described inconnection with FIGS. 64-82, 83-91 and 92-96. Other suitable techniquesand rotation means for rotating the end effector 1202 relative to theshaft assembly 1214 are within the scope of the current disclosure. Itwill be appreciated that a desired rotation speed of the rotary driveshaft 1270 to drive the rotary drive nut 1250 may be greater than adesired rotational speed for rotating the head portion. For example, therotary drive shaft 1270 may be driven by a motor (not shown) that isoperable at different rotary speeds.

The orientation of the threading of the threaded drive member 1248 andthe rotary drive nut 1250 may be established so that either clockwise orcounterclockwise rotation of the rotary drive shaft 1270 will causedistal or proximal translation of the threaded drive member 1248 andI-beam member 1247. Stated another way, the rotary drive shaft 1270, andthe rotary drive nut 1250 can be rotated in a first direction to advancethe threaded drive member 1248 distally and correspondingly, rotated ina second opposite direction to retract the threaded drive member 1248proximally. The pitch and/or number of starts of the threading of thethreaded drive member 1248 and the threading of the rotary drive nut1250 may be selected to control the speed and/or duration of therotation of the rotary drive nut 1250 and, in turn, the translation ofthe threaded drive member 1248. In this manner, the direction, speed,and/or duration of rotation of the rotary drive shaft 1270 can becontrolled in order to control the direction, speed, and magnitude ofthe longitudinal translation of the I-beam member 1247 along the firstchannel 1260 and second channel 1262, as described above.

Similar to the above, the orientation of the threading of the threadeddistal portion 1274 of the rotary drive nut 1250 and the threading ofthe threaded proximal portion 1276 of the closure nut 1232 may beestablished so that either clockwise or counterclockwise rotation of therotary drive shaft 1270 will cause distal or proximal translation of theclosure nut 1232 and in turn closure or opening of the jaw assembly1211. Stated another way, threaded distal portion 1274 can be rotated ina first direction to advance the threaded proximal portion 1276 distallyand correspondingly, rotated in a second opposite direction to retractthe threaded proximal portion 1276 proximally. The pitch and/or numberof starts of the threading of the threaded distal portion 1274 of thethreaded drive member 1248 and the threading of threaded proximalportion 1276 of the closure nut 1232 may be selected to control speedand/or duration of the rotation of the rotary drive nut 1250 andtranslation of the closure nut 1232. In this manner, the direction,speed, and/or duration of rotation of the rotary drive shaft 1270 can becontrolled in order to control the direction, speed, and magnitude ofthe pivoting of the of the jaw assembly 1211.

Referring to FIGS. 86-88, the rotary drive shaft 1270 is shown in afully extended distal axial position in which the female hex couplingportion 1280 of the rotary drive head 1278 is mechanically engaged withthe male hex coupling portion 1284 of the rotary drive nut 1250. In thisconfiguration, rotation of the rotary drive shaft 1270 in a firstdirection (for example a clockwise direction) around the central axis Abegins a firing stroke by causing rotation of the rotary drive nut 1250in the first direction. The rotation of the rotary drive nut advancesthe threaded drive member 1248, which, in turn, advances the I-beammember 1247 distally. Simultaneously, the rotation of the rotary drivenut 1250 advances the closure nut 1232 distally, which closes the jawassembly 1211. The closure nut 1232 and the threaded drive member 1248are advanced distally until the closure nut 1232 is disengaged fromthreaded engagement with the rotary drive nut 1250 as illustrated inFIG. 88. Stated another way, the closure nut 1232 can be advanceddistally until the threads of the threaded distal portion 1274 of therotary drive nut 1250 are no longer threadedly engaged with the threadsof the threaded proximal portion 1276 of the closure nut 1232. Thus, asa result, further rotation of the rotary drive nut 1250 in the firstdirection will not advance the closure nut 1232 distally. The closurenut 1232 will sit idle during the remainder of a firing stroke.Additional rotation of the rotary drive nut 1250, in the same direction,continues the distal advancement of the threaded drive member 1248,which continues the distal advancement of the I-beam member 1247 for theremainder of the firing stroke.

The surgical tool 1200 may comprise a biasing member 1288, a helicalspring, and/or a washer spring for example, situated at least partiallyaround the threaded distal portion 1274 of the rotary drive nut 1250. Asillustrated in FIG. 86, the biasing member 1288 may include a proximalend abutted against the distal annular flange 1266 of the end effectordrive housing 1216, and a distal end abutted against a proximal end 1290of the closure nut 1232. Once the closure nut 1232 is released fromthreaded engagement with the rotary drive nut 1250, the biasing member1288 can keep the closure nut 1232 from reengaging the rotary drive nut1250 by pushing the closure nut 1232 axially in a distal direction alongthe central axis A until the distal portion 1238 of the closure nut 1232abuts against a terminal wall 1294 of the proximal shaft portion 1212 ofthe end effector 1202. The biasing member 1288 also ensures that the jawassembly 1211 remains under positive closure pressure by biasing theclosure nut 1232 abutted against the terminal wall 1294 of the proximalshaft portion 1212 of the end effector 1202 as the I-beam member 1247 isbeing advanced distally through the closed jaw assembly 1211.

Referring primarily to FIG. 84, the closure nut 1232 may comprise a cammember 1296 extending distally from the closure nut 1232. Referringprimarily to FIG. 87, the cam member 1296 may extend through an opening1298 of the terminal wall 1294 of the proximal shaft portion 1212 of theend effector 1202 when the distal portion 1238 of the closure nut 1232is abutted against the terminal wall 1294 of the proximal shaft portion1212 of the end effector 1202 under positive pressure from the biasingmember 1288.

Referring to FIG. 88, the rotary drive shaft 1270 is shown in a fullyextended distal axial position in which the female hex coupling portion1280 of the rotary drive head 1278 is mechanically engaged with the makehex coupling portion 1284 of the rotary drive nut 1250. In thisconfiguration, rotation of the rotary drive shaft 1270 in a seconddirection opposite the first direction (for example a counter clockwisedirection) begins a reverse stroke by causing an opposite rotation ofthe rotary drive nut 1250, which retracts the threaded drive member1248, which in turn retracts the I-beam member 1247. At least during theinitial phase of the reverse stroke, the closure nut 1232 remainsdisengaged from the rotary drive nut 1250. However, when the I-beammember 1247 is being retracted, the I-beam member 1247 can engage thecam member 1296 of the closure nut 1232. Any further retraction of theI-beam member 1247 can simultaneously open the jaw assembly 1211 bypushing the closure nut 1232 axially in a proximal direction along thecentral axis A toward the rotary drive nut 1250. In order for the I-beammember 1247 to push the closure nut 1232 proximally, the I-beam member1247 must compress the biasing member 1288. As the I-beam member 1247 isretracted, the I-beam member 1247 can push the closure nut 1232proximally until the closure nut is returned into threaded engagementwith the rotary drive nut 1250. At such point, the rotary drive nut 1250can pull the closure nut 1232 proximally owing to the threadedengagement therebetween. As the closure nut 1232 is retractedproximally, the first link 1230, and the second link will cause the jawassembly 1211 to open. The retraction of the I-beam member 1247 and theopening of the jaw assembly 1211 continue simultaneously during theremainder of the reverse stroke.

The sequence of events causing the closure of the jaw assembly 1211, thefull extension of the I-beam member 1247, the full retraction of theI-beam member 1247, and the reopening of the jaw assembly 1211 isillustrated in FIGS. 85-91 in a chronological order. FIG. 85 shows thejaw assembly 1211 in a fully open position, the I-beam member 1247 in afully retracted position, and the rotary drive shaft 1270 in a fullyretracted axial position, wherein the female hex coupling portion 1280of the rotary drive head 1278 is mechanically disengaged from the malehex coupling portion 1284 of the rotary drive nut 1250. In a first phaseof operation, returning to FIG. 86, the rotary drive shaft 1270 isadvanced axially to mechanically engage the female hex coupling portion1280 of the rotary drive head 1278 with the male hex coupling portion1284 of the rotary drive nut 1250. Referring again to FIG. 86, therotation of the rotary drive shaft 1270 in a first direction (forexample a clockwise direction) around the central axis A causes therotation of the rotary drive nut 1250 in the first direction. Theclosure nut 1232 and the threaded drive member 1248 are simultaneouslyadvanced distally by rotation of the rotary drive nut 1250 in the firstdirection. In turn, the closure of the jaw assembly 1211 and the initialadvancement of the I-beam member 1247 occur simultaneously during thefirst phase of operation. In a second phase of operation, referring nowto FIG. 87, the closure nut 1232 is disengaged from threaded engagementwith the rotary drive nut 1250. During the remainder of the second phaseof operation, the rotary drive nut 1250 continues to advance thethreaded drive member 1248 independently of the closure nut 1232. As aresult, referring primarily to FIG. 88, the jaw assembly 1211 remainsclosed and the I-beam member 1247 continues to advance until the end ofthe second phase of operation.

In a third phase of operation, as illustrated in FIG. 89, the rotarydrive shaft 1270 is rotated in a second direction opposite the firstdirection, which causes the rotation of the rotary drive nut 1250 in thesecond direction. In the third phase of operation, the closure nut 1232remains disengaged from rotary drive nut 1250. The rotation of therotary drive nut 1250 retracts the threaded drive member 1248independent of the closure nut 1232. In result, the jaw assembly 1211remains closed, and the I-beam member 1247 is retracted in response tothe rotation of the rotary drive. In a fourth phase of operation,referring primarily to FIG. 90, the rotary drive nut 1250 continues itsrotation in the second direction thereby retracting the threaded drivemember 1248 which retracts I-beam member 1247 until the I-beam member1247 engages the cam member 1296 of closure nut 1232. Any furtherretraction of the I-beam member 1247 simultaneously opens the jawassembly 1211 by pushing the closure nut 1232 axially in a proximaldirection along the central axis A towards the rotary drive nut 1250compressing the biasing member 1288. Referring primarily to FIG. 91, theI-beam member 1247 can continue to push the closure nut 1232 proximallyuntil it is returned into threaded engagement with the rotary drive nut1250. The retraction of the I-beam member 1247 and the opening of thejaw assembly 1211 continue simultaneously during the remainder of thefourth phase of operation.

Referring to FIGS. 92-96, a multi-axis articulating and rotatingsurgical tool 1300 comprises an end effector 1302 including a jawassembly 1311 comprising a first jaw member 1304 and a second jaw member1306. The first jaw member 1304 is movable relative to the second jawmember 1306 between an open position and a closed position to clamptissue between the first jaw member 1304 and the second jaw member 1306.The surgical tool 1300 is configured to independently articulate aboutan articulation joint 1308. As described above, the surgical tool 1300is also configured to independently rotate about a head rotation joint1310.

The end effector 1302 is coupled to a shaft assembly 1314 comprising anend effector drive housing 1316, an end effector connector tube 1318, anintermediate articulation tube segment 1320, and a distal outer tubeportion (not shown in FIGS. 92-96). The end effector 1302 and the shaftassembly 1314 together can comprise the surgical tool 1300. The endeffector 1302 may be removably coupled to the end effector drive housing1316 using a mechanism as described, for example, in connection withFIGS. 106-115. The end effector connector tube 1318 comprises acylindrical portion 1322 and a ball portion 1324. The end effector drivehousing 1316 is coupled to the cylindrical portion 1322 of the endeffector connector tube 1318 through the head rotation joint 1310. Theend effector 1302 and the end effector drive housing 1316 togethercomprise a head portion of the surgical tool 1300. The head portion ofthe surgical tool 1300 is independently rotatable about the headrotation joint 1310.

Referring primarily to FIG. 92, the surgical tool 1300 may include aclosure mechanism 1326 for moving the first jaw member 1304 relative tothe second jaw member 1306 between an open position (FIG. 93) and aclosed position (FIG. 94). As illustrated in FIG. 83, the first jawmember 1304 may include first mounting holes 1328, and the second jawmember 1306 may include second mounting holes (nor shown in FIGS.92-96). The first jaw member 1304 can be arranged relative to the secondjaw member 1306 such that a pivot or trunnion pin (not shown in FIGS.92-96) extends through the first mounting holes 1328 of the first jawmember 1304 and the second mounting holes of the second jaw member 1306to pivotally couple the first jaw member 1304 to the second jaw member1306. Other suitable means for coupling the first jaw member 1304 andthe second jaw member 1306 are within the scope of this disclosure.

Referring to FIGS. 92-96, the closure mechanism may comprise a closurelink 1330 which translates axially relative to the end effector drivehousing 1316 between a first position and a second position. The closurelink 1330 may comprise a distal end 1332 and a proximal end 1334. Thedistal end 1332 may be pivotally connected to a proximal portion 1336 ofthe first jaw member 1304 such that when the closure link 1330 istranslated between the first position and the second position, the firstjaw member 1304 is moved relative to the second jaw member 1306 betweenan open and a closed position.

Referring to FIGS. 92-96, the closure mechanism 1328 may also comprise aclosure driver in the form of a barrel cam 1338 for example. The barrelcam 1338 may be positioned within the end effector drive housing 1316.The barrel cam 1338 may comprise a generally cylindrical shape having alumen 1340 therethrough. The barrel cam 1338 may include a first arcuategroove 1346, and a second arcuate groove 1348 defined in a peripheralsurface thereof. The first arcuate groove 1346 may receive a first pin1350 extending from the end effector drive housing 1316. The secondarcuate groove 1348 may receive a second pin (not shown in FIGS. 92-96)extending from the end effector drive housing 1316. The first pin 1350and the second pin (not shown in FIGS. 92-96) may extend fromcircumferentially opposite sides of an inner wall of the end effectordrive housing 1316. The barrel cam 1338 may rotate around central axisA, wherein, as the barrel cam 1338 is rotated around central axis A, thefirst pin 1350 travels along the first arcuate groove 1346, and thesecond pin travels along the second arcuate groove 1348 therebytranslating the barrel cam 1338 axially along central axis A. The resultis a conversion of the rotational motion of the barrel cam 1338 into anaxial motion of the closure link 1330. Stated another way, the rotationof the barrel cam 1338 in a first direction (for example a clockwisedirection) around the central axis A may result in advancing the barrelcam 1338 axially in a distal direction. Correspondingly, the rotation ofthe barrel cam 1338 in a second direction (for example a counterclockwise direction) opposite the first direction may result inretracting the barrel cam 1338 axially in a proximal direction along thecentral axis A.

Referring to FIGS. 92-96, the proximal end 1334 of the closure link 1330may be operatively engaged with the barrel cam 1338 such that theaxially advancement of the barrel cam 1338 may cause the closure link1330 to be advanced axially, and, in turn close the jaw assembly 1311.Similarly, the proximal retraction of the barrel cam 1338 may retractthe closure link 1330, which may open the jaw assembly 1311. Asillustrated in FIGS. 92-96, the barrel cam 1338 may include acircumferential recess 1354 on the external wall of the barrel cam 1338at a distal portion thereof. The proximal end of the closure link 1330may comprise a connector member 1356. The connector member 1356 may beoperably engaged with the barrel cam 1338 along the recess 1354. As aresult, the barrel cam 1338 may translate axial motions to the closurelink 1330 through the connector member 1356.

Referring primarily to FIG. 92, the surgical tool 1300 may include afiring mechanism 1358. The firing mechanism 1358 may include an I-beammember 1360, a threaded drive member 1362, and a threaded rotary drivenut 1364. The I-beam member 1360 may operate in a manner similar to thatof the axially movable member 3016 described herein above and maycomprise a first I-beam flange 1367 and a second I-beam flange 1368. Thefirst I-beam flange 1367 and the second I-beam flange 1368 are connectedwith an intermediate portion 1370. The intermediate portion 1370 of theI-beam member 1360 may comprise a cutting member 1372, which maycomprise a sharp edge or blade for example, to transect tissue clampedbetween the first jaw member 1304 and the second jaw member 1306 whenthe jaw assembly 1311 is closed. The I-beam member 1360 may translatedistally within a first channel (not shown in FIGS. 92-96) defined inthe first jaw member 1304 and within a second channel 1376 defined inthe second jaw member 1306 to cut through clamped tissue during a distaltranslation (firing) stroke. FIG. 96 illustrates the I-beam member 1360after a firing stroke.

Before, during, and/or after the I-beam member 1360 is advanced throughtissue clamped between the first jaw member 1304 and the second jawmember 1306, electrical current can be supplied to electrodes 1378located in the first jaw member 1304 and/or second jaw member 1306 inorder to weld/fuse the tissue, as described in greater detail in thisspecification. For example, electrodes 1378 may be configured to deliverRF energy to tissue clamped between the first jaw member 1304 and thesecond jaw member 1306 when in a closed position to weld/fuse thetissue.

Distal and proximal translation of the I-beam member 1360 between aproximally retracted position and a distally advanced position may beaccomplished with a suitable firing mechanism 1358. Referring to FIGS.92-96, the I-beam member 1360 is connected to the threaded drive member1362, wherein the threaded drive member 1362 is threadedly engaged withthe rotary drive nut 1364. The threaded rotary drive nut 1364 ispositioned within the end effector drive housing 1316 distal to thebarrel cam 1338 between a proximal annular flange 1339A and a distalannular flange 1339B. The threaded rotary drive nut 1364 is mechanicallyconstrained from translation in any direction, but is rotatable withinthe end effector drive housing 1316. Therefore, given the threadedengagement of the rotary drive nut 1364 and the threaded drive member1362, rotational motion of the rotary drive nut 1364 is transformed intotranslational motion of the threaded drive member 1362 along the centralaxis A and, in turn, into translational motion of the I-beam member 1360along the central axis A.

The threaded drive member 1362 is threaded through the rotary drive nut1364 and is located at least partially inside a lumen 1381 of a rotarydrive shaft 1382. The threaded drive member 1362 is not attached orconnected to the rotary drive shaft 1382. The threaded drive member 1362is freely movable within the lumen 1381 of the rotary drive shaft 1382and will translate within the lumen 1381 of the rotary drive shaft 1382when driven by rotation of the rotary drive nut 1364. The rotary driveshaft 1382 and the threaded drive member 1362 form a concentric rotarydrive shaft/threaded drive member assembly that is located in the shaftassembly 1314. In addition, the threaded drive member 1362 extendsdistally through a lumen 1384 of the barrel cam 1338 wherein thethreaded drive member 1362 is freely movable within the lumen 1384 ofthe barrel cam 1338 and will translate within the lumen 1384 of thebarrel cam 1338 when the threaded drive member is driven by rotation ofthe rotary drive nut 1364.

As shown in FIG. 92, the end effector drive housing 1316, the endeffector connector tube 1318, and the intermediate articulation tubesegment 1320, which together comprise the shaft assembly 1314, havelumens extending therethrough. As a result, the shaft assembly 1314 cancomprise a lumen extending therethrough, as illustrated in FIGS. 92-96.Referring again to FIGS. 92-96, the concentric rotary driveshaft/threaded drive member assembly is located within the lumen of theshaft assembly 1314 and passes through the end effector drive housing1316, the end effector connector tube 1318, and the intermediatearticulation tube segment 1320. Although not shown in FIGS. 92-96, atleast the rotary drive shaft 1382 passes through a lumen of the shaftassembly 1314 and is operably coupled to a driving mechanism thatprovides rotational and/or axial translational motion to the rotarydrive shaft 1382. For example, in some embodiments, the surgical tool1300 may be operably coupled through the shaft assembly 1314 to arobotic surgical system that provides rotational motion and/or axialtranslational motion to the rotary drive shaft 1382, such as, forexample, the robotic surgical systems described in connection with FIGS.5 and 16-21. For example, the rotary drive shaft 1382 may be operablycoupled, though the shaft assembly 1314, to the proximal drive shaftsegment 380 described herein above. Also, in some embodiments, thesurgical tool 1300 may be utilized in conjunction with a hand-heldsurgical device, such as the device described herein above with respectto FIGS. 46-63. For example, the rotary drive shaft 1382 may be operablycoupled, through the shaft assembly 1314, to the proximal drive shaftsegment 380′ described herein above.

In some embodiments, the threaded drive member 1362 has a length that isless than the length of the rotary drive shaft 1382 and, therefore, lieswithin only a distal portion of the rotary drive shaft 1382, forexample. The threaded drive member 1362 and the rotary drive shaft 1382may be flexible so that the threaded drive member 1362 and the rotarydrive shaft 1382 can bend without damage or loss of operability duringarticulation of the surgical tool 1300 about the articulation joint1308.

The rotary drive shaft 1382 may comprise a rotary drive head 1386. Therotary drive head 1386 may comprise spline members 1388 disposedcircumferentially around an external surface of the rotary drive head1386 and oriented co-axially with the shaft assembly 1314. The endeffector drive housing 1316 may comprise a spline coupling portion 1390comprising spline members 1392 disposed circumferentially around aninternal wall of the end effector drive housing 1316 and orientedco-axially with the shaft assembly 1314. The barrel cam 1338 maycomprise a spline coupling portion 1394 comprising spline members 1396disposed circumferentially around an internal wall of barrel cam 1338and oriented co-axially with the shaft assembly 1314. The rotary drivenut 1364 may also comprise a spline coupling portion 1397 comprisingspline members 1398 disposed circumferentially around an internal wallof rotary drive nut 1364 and oriented co-axially with the shaft assembly1314. As illustrated in FIG. 93, the rotary drive shaft 1382 may beselectively retracted proximally to bring the rotary drive head 1386into operable engagement with the spline coupling portion 1390 of theend effector drive housing 1316. In this configuration, rotation of therotary drive shaft 1382 causes rotation of the head portion of thesurgical tool 1300 about the head rotation joint 1310, includingrotation of the end effector 1302 and the end effector drive housing1316. In this configuration, the portion of the surgical tool 1300 thatis distal to the head rotation joint 1310 rotates with rotation of therotary drive shaft 1382, and the portion of the surgical tool 1300 thatis proximal to the head rotation joint 1310 does not rotate withrotation of the rotary drive shaft 1382. An example of a head rotationjoint 1310 is described in connection with FIGS. 64-82, 83-91 and 92-96.Other suitable techniques and rotation means for rotating the endeffector 1302 relative to the shaft assembly 1314 are within the scopeof the current disclosure. It will be appreciated that a desiredrotation speed of the rotary drive shaft 1382 to drive the rotary drivenut 1364 may be greater than a desired rotational speed for rotating thehead portion. For example, the rotary drive shaft 1270 may be driven bya motor (not shown) that is operable at different rotary speeds.

As illustrated in FIG. 94, the rotary drive shaft 1382 may beselectively advanced distally to bring the rotary drive head 1386 intooperable engagement with the spline coupling portion 1394 of the barrelcam 1338. In this configuration, rotation of the rotary drive shaft 1382causes rotation of the barrel cam 1338. As described above, the rotationof the barrel cam 1338 causes axial motions in the closure link 1330. Inresult, the rotation of the rotary drive shaft 1382 in a first direction(for example a clockwise direction) around the central axis A may causethe closure link 1330 to be advanced distally along the central axis A,which may close the jaw assembly 1311. Alternatively, the rotation ofthe rotary drive shaft 1382 in a second direction (for example aclockwise direction) opposite the first direction may cause the closurelink 1330 to be retracted proximally along the central axis A, which inturn may open the jaw assembly 1311.

As illustrated in FIG. 95, the rotary drive shaft 1382 may beselectively advanced distally to pass the rotary drive head 1386 throughthe lumen of the barrel cam 1338 into a space 1399 in the end effectordrive housing 1316 between the barrel cam 1338 and the rotary drive nut1364 wherein the rotary drive head 1386 is not in operable engagementwith any of the spline coupling portions. The rotary drive shaft 1382may then be further advanced distally to bring rotary drive head 1386into operable engagement with the spline coupling portion 1397 of therotary drive nut 1364 as illustrated in FIG. 96. In this configuration,rotation of the rotary drive shaft 1382 causes rotation of the rotarydrive nut 1364. As described above, the rotation of the rotary drive nut1364 causes axial motions in the threaded drive member 1362. In result,rotation of the rotary drive shaft 1382 in a first direction (forexample a clockwise direction) around the central axis A, may cause thethreaded drive member 1362 to be advanced distally, which in turn mayadvance the I-beam member 1360 distally. Alternatively, rotation of therotary drive shaft 1382 in a second direction (for example a clockwisedirection) opposite the first direction may cause the threaded drivemember 1362 to be retracted proximally, which may retract the I-beammember 1360 proximally.

The sequence of events causing the closure of the jaw assembly 1311, thefull extension of the I-beam member 1360, the full retraction of theI-beam member 1360, and the reopening of the jaw assembly 1311 isillustrated in FIGS. 93-96 in a chronological order. FIG. 93 shows thejaw assembly 1311 in a fully open position, the I-beam member 1360 in afully retracted position, and the rotary drive shaft 1382 in a retractedaxial position, wherein the rotary drive head 1386 is operably engagedwith the spline coupling portion 1390 of the end effector drive housing1316. In a first phase of operation, the rotary drive shaft 1382 isrotated to rotate the end effector 1302 into an appropriate orientation,for example relative to a blood vessel. In a second phase of operation,the rotary drive shaft 1382 is advanced axially to bring the rotarydrive head 1386 into operable engagement with the spline couplingportion 1394 of the barrel cam 1338. In this configuration, the rotarydrive shaft 1382 may be rotated in a first direction (for example aclockwise direction) around the central axis A to close the jaw assembly1311 around the blood vessel. The electrodes 1378 in the first jawmember 1304 and the second jaw member 1306 may be activated to seal theblood vessel. In a third phase of operation, the rotary drive shaft 1382may then be advanced axially to bring the rotary drive head 1386 intooperable engagement with the spline coupling portion 1397 of the rotarydrive nut 1364. In this configuration, the rotary drive shaft 1382 maybe rotated in a first direction around the central axis A (for example aclockwise direction) to advance the I-beam member 1360 therebytransecting the sealed blood vessel. In a fourth phase of operation, therotary drive shaft 1382 may be rotated in a second direction (forexample a counter clockwise direction) opposite the first direction toretract the I-beam member 1360.

In a fifth phase of operation, the rotary drive shaft 1382 is retractedaxially to bring the rotary drive head 1386 into operable engagementwith the spline coupling portion 1394 of the barrel cam 1338. In thisconfiguration, the rotary drive shaft 1382 may be rotated in a seconddirection (for example a counter clockwise direction) opposite the firstdirection to reopen the jaw assembly 1311 thereby releasing the sealedcut blood vessel.

As described above, a surgical tool can utilize a drive system fortranslating a drive member distally within an end effector of thesurgical tool, to advance a cutting member within the end effector, forexample, and for translating the drive tube proximally to retract thedrive tube and/or cutting member. FIGS. 97 and 98 illustrate an exampledrive shaft assembly 1400 that may be employed in connection with an endeffector 1420 and/or any of the end effectors described herein. Forexample, the drive shaft assembly 1400 (as well as the assembly 1400′)may correspond to various threaded rotary drive members described hereinincluding, for example, the threaded rotary drive members 604, 654,1040, 1248, 1364, etc. Further to the above, the drive shaft assembly1400 can be advanced distally in order to rotate a jaw member 1422 ofthe end effector 1420 between a closed position and an open position, asillustrated in FIG. 97, and advance a cutting member between the jawmember 1422 and a jaw member 1424 positioned opposite the jaw member1422. In one example form, the drive shaft assembly 1400 includes adrive member, or tube, 1402 that can comprise a series of annular jointsegments 1404 cut therein.

In various example embodiments, the drive member 1402 can comprise ahollow metal tube comprised of stainless steel, titanium, and/or anyother suitable material, for example, that has a series of annular jointsegments 1404 formed therein. In at least one embodiment, the annularjoint segments 1404 can comprise a plurality of loosely interlockingdovetail shapes 1406 that are, for example, cut into the drive member1402 by a laser and serve to facilitate flexible movement between theadjoining joint segments 1404. Such laser cutting of a tube stock cancreate a flexible hollow drive tube that can be used in compression,tension and/or torsion. Such an arrangement can employ a full diametriccut that is interlocked with the adjacent part via a “puzzle piece”configuration. These cuts are then duplicated along the length of thehollow drive tube in an array and are sometimes “clocked” or rotated tochange the tension or torsion performance. Further to the above, theinterlocking dovetails shapes 1406 are but one example embodiment and,in various circumstances, the drive member 1402 can comprise anysuitable array of articulation joints comprising interlocking driveprojections and drive recesses. In various circumstances, the drivemember 1402 can comprise an articulation joint lattice comprisingoperably engaged projections and recesses which can be interlocked totransmit linear and/or rotary motions therebetween. In a sense, invarious embodiments, the drive member 1402 can comprise a plurality or amultitude of articulation joints defined within the body of the drivemember 1402. The drive member 1402 can include a plurality ofarticulation joints which are intrinsic to the body of the drive member1402.

Further to the above, the drive member 1402 can be pushed distally suchthat a longitudinal force is transmitted through the drive member 1402and to a cutting member, for example, operably coupled with a distal endof the drive member 1402. Correspondingly, the drive member 1402 can bepulled proximally such that a longitudinal force is transmitted throughthe drive member 1402 and to the cutting member. The interlockingdovetail shapes 1406 can be configured to transmit the longitudinalpushing and pulling forces between the joint segments 1404 regardless ofwhether the joint segments 1404 are longitudinally aligned, asillustrated in FIG. 98, and/or articulated relative to each other toaccommodate the articulation of the articulation joint 1430 whichrotatably connects the end effector 1420 to the shaft of the surgicalinstrument. More particularly, further to the above, the articulationjoint 1430 can comprise one or more articulation segments 1434 which canmove relative to one another to permit the end effector 1420 to rotatewherein, in order to accommodate the relative movement of thearticulation joint segments 1434, the joint segments 1404 of the drivemember 1402 can rotate or shift relative to each other. In at least theillustrated embodiment of FIG. 97, the articulation joint segments 1434can define a passage 1435 extending therethrough which can be configuredto closely receive the drive tube 1402 and constrain large transversemovements between the joint segments 1404 while concurrently permittingsufficient relative movement between the joint segments 1404 when thearticulation joint 1430 has been articulated. FIGS. 99-101 illustratealternative example micro-annular joint segments 1404′ of a drive member1402′ that can comprise a plurality of laser cut shapes 1406′ thatroughly resemble loosely interlocking, opposed “T” shapes and T-shapeswith a notched portion therein, for example. The laser cut shapes 1406′can also roughly resemble loosely interlocking, opposed “L” shapes andL-shapes defining a notched portion, for example. The annular jointsegments 1404, 1404′ can essentially comprise multiplemicro-articulating torsion joints. That is, each joint segment 1404,1404′ can transmit torque while facilitating at least some relativearticulation between each annular joint segment. As shown in FIGS. 99and 100, the joint segment 1404D′ on the distal end 1403′ of the drivemember 1402′ has a distal mounting collar portion 1408D′ thatfacilitates attachment to other drive components for actuating the endeffector. Similarly, the joint segment 1404P′ on the proximal end 1405′of the drive member 1402′ has a proximal mounting collar portion 1408P′that facilitates attachment to other proximal drive components orportions of a quick disconnect joint, for example.

The joint-to-joint range of motion for each particular joint segment1404′ can be increased by increasing the spacing in the laser cuts. Invarious circumstances, however, the number and/or density of the lasercuts within any particular region of the drive member 1402′ can causethe drive member 1402′ to be particularly flexible in that region. Toensure that the joint segments 1404′ remain coupled together withoutsignificantly diminishing the drive tube's ability to articulate throughdesired ranges of motion, a secondary constraining member can beemployed to limit or prevent the outward expansion of the joint segments1404′. In the example embodiment depicted in FIGS. 102 and 103, asecondary constraining member 1410 comprises a spring 1412 or anotherwise helically-wound member. In various example embodiments, thedistal end 1414 of the spring 1412 can correspond to and can be attachedto the distal mounting collar portion 1408D′ and can be wound tighterthan the central portion 1416 of the spring 1412. Similarly, theproximal end 1418 of the spring 1412 can correspond to and can beattached to the proximal collar portion 1408P′ and can be wound tighterthan the central portion 1416 of the spring 1412. As a result of thetighter winding, the distal end 1414 and/or the proximal end 1418 cancomprise coils which are positioned closer together than the coils ofthe central portion 1416. Stated another way, the coils per unitdistance of the distal end 1414 and/or the proximal end 1418 can begreater than the coils per unit distance of the central portion 1416. Inany event, the spring 1412 can define a longitudinal aperture 1413within which the drive member 1402′, and/or the drive member 1402, forexample, can be positioned. The longitudinal aperture 1413 and the drivemember 1402′ can be sized and configured such that the drive member1402′ is closely received within the longitudinal aperture 1413 wherein,in various circumstances, the coils of the spring 1412 can limit theoutward movement of the joint segments 1404′ such that the jointsegments 1404′ do not become disconnected from one another when they arearticulated relative to one other. As outlined above, the distal end1414 of the spring 1412 can be fixedly mounted to the distal end 1403′of the drive member 1402′ and the proximal end 1418 of the spring 1412can be fixedly mounted to the proximal end 1405′ of the drive member1402′ wherein the movement of the distal tube end 1403′ can move thedistal spring end 1414 and, correspondingly, the movement of theproximal tube end 1405′ can move the proximal spring end 1418. Invarious circumstances, the spring ends 1414 and 1418 can be welded, forexample, to the tube ends 1403′ and 1405′, respectively. In at least theillustrated embodiment, the coils of the central portion 1416 may not befixedly mounted to the drive member 1402′. In at least one suchembodiment, the drive member 1402′ can be configured to at leastpartially articulate within the coils of the central portion 1416 untilthe drive member 1402′ contacts the coils wherein, at such point, thecoils can be configured to at least partially expand or shift toaccommodate the lateral movement of the drive member 1402′. In variousother embodiments, at least portions of the coils of the central portion1416 can be fixedly mounted, such as by welding, for example, to thedrive member 1402′.

Further to the above, the constraining member 1410 may be installed onthe drive member 1402′ with a desired pitch such that the constrainingmember 1410 also functions, for example, as a flexible drive thread 1440which can be threadably engaged with other threaded drive components onthe end effector and/or the drive system, as described above. The drivemember 1402′ can be constrained from being revolved around itslongitudinal axis wherein, when a threaded drive input is engaged withthe thread 1440 and is rotated in a first direction by a motor, forexample, the drive member 1402′ can be advanced distally within the endeffector 1420. Correspondingly, when the threaded drive input engagedwith the thread 1440 is rotated in a second, or opposite, direction, thedrive member 1402′ can be retracted proximally. It will be appreciatedthat the constraining member 1410 may be installed in such a manner thatthe thread 1440 includes a constant, or at least substantially constant,pitch along the length thereof. In such embodiments, the drive member1402′ can be advanced and/or retracted at a constant, or an at leastsubstantially constant, rate for a given rate in which the threadeddrive input is rotated. It will also be appreciated that theconstraining member 1410 can be installed in such a manner that thethread 1440 includes a variable pitch, or a pitch which changes alongthe length of the drive member 1402′. For example, the variable pitcharrangement of the constraining member 1410 may be used to slow thedrive assembly 1400′ down or speed the drive assembly 1400′ up duringcertain portions of the firing stroke of the drive assembly 1400′. Forinstance a first portion of the thread 1440 can include a first pitchwhich is smaller than the pitch of a second portion of the thread 1440wherein the first pitch can drive a closing member at a first rate andthe second portion can drive a firing member at a second rate, forexample. In at least some forms, for example, the drive shaft assemblycomprises a variable pitch thread on a hollow flexible drive shaft thatcan be pushed and pulled around a ninety degree bend or greater, forexample.

As discussed above, the drive member 1402′ can be constrained fromrevolving about its longitudinal axis. Moreover, the entire drive shaftassembly 1400′ can be constrained from rotating about its longitudinalaxis. In various embodiments, the drive member 1402′ can comprise alongitudinal slot defined therein which can be engaged with one or moreprojections which can extend inwardly from the end effector 1420 and/orthe articulation joint members 1434 into the longitudinal slot, forexample. Such an arrangement of the longitudinal slot and theprojections can be configured to prevent or at least limit the rotationof the drive shaft assembly 1400′ about its own longitudinal axis. Asused herein, the longitudinal axis of the drive shaft assembly 1400′,and/or the drive member 1402′, can extend along the center of the driveshaft assembly 1400′ regardless of whether the drive shaft assembly1400′ is in a straight configuration or a bent configuration. As aresult, the path and direction of the longitudinal axis of the driveshaft assembly 1400′ may change when the end effector 1420 isarticulated and the drive shaft assembly 1400′ articulates toaccommodate the articulation of the end effector 1420. Further to theabove, the drive member 1402′ can be fixedly mounted to and extendproximally from a cutting member positioned within the end effector1420. As described herein, the cutting member can be closely receivedwithin various slots and/or channels defined in the end effector whichcan prevent the cutting member, and the drive shaft assembly 1400′extending therefrom, from being rotated, or at least substantiallyrotated about its longitudinal axis. While the longitudinal axis of thedrive shaft assembly 1400′ can be defined by the drive member 1402′, thelongitudinal axis can be defined by the spring 1412. In at least onesuch embodiment, the center path of the spring coils can define thelongitudinal axis of the drive shaft assembly 1400′. In any event, thedrive shaft assembly 1400′ can be constrained from revolving around itslongitudinal axis.

Turning now to FIGS. 104 and 105, the drive shaft assembly 1400′ cancomprise an internal constraining member, such as a flexible core 1417,for example, which can be configured to limit or prevent the inwardmovement or collapse of the joint segments 1404′ of the drive member1402′. The drive member 1402′ can define an internal longitudinal cavity1415 which can be configured to closely receive the flexible core 1417.In at least one such embodiment, the internal cavity 1415 defined in thedrive member 1402′ can comprise a diameter or width which is equal to,or at least substantially equal to, the diameter or width of theflexible core 1417. In various circumstances during the articulation ofthe end effector 1420, for example, portions of the joint segments 1404′can deflect or be displaced inwardly toward the flexible core 1417wherein, when the joint segments 1404′ contact the flexible core 1417,the core 1417 can inhibit the inward movement of the joint segments1404′ and prevent the drive member 1402′ from collapsing inwardly. Theflexible core 1417 can be mounted to at least portions of the drivemember 1402′ such as the distal end 1408D′ and/or the proximal end1408P′ thereof, for example. In certain embodiments, the flexible core1417 may not be fixedly mounted to the drive member 1402′ wherein, insuch embodiments, the flexible core 1417 can be held in place by thedrive member 1402′. In any event, the flexible core 1417 can besufficiently flexible so as to permit the drive shaft assembly 1400′ tobend or articulate as necessary to transmit the pushing and pullingmotions applied thereto, as described above.

As outlined above, the shaft assembly 1400′, for example, can beconfigured to bend or flex to accommodate the articulation of the endeffector 1420 about the articulation joint 1430. The drive member 1402′,the flexible core 1417, and/or the spring 1412 can be resilient suchthat the shaft assembly 1400′ can return to its original longitudinalconfiguration, for example. In various circumstances, the end effector1420 can be rotated from its articulated position back to itslongitudinal, or straight, position and, as such, the shaft assembly1400′ can be configured to bend or flex in order to accommodate thereturn of the end effector 1420.

Referring to FIGS. 106-108, a surgical tool 1000 may include a surgicalend effector 1001 and a shaft assembly 1003. Surgical end effector 1001may be configured to perform surgical activities in response to drivemotions applied thereto. Shaft assembly 1003 may be configured totransmit such drive motions to surgical end effector 1001. The surgicalend effector 1001 may include a first jaw member 1002, and a second jawmember 1004. The first jaw member 1002 may be movable relative to thesecond jaw member 1004 between a first position and a second position.Alternatively, the first jaw member 1002 and second jaw member 1004 maybe moveable relative to each other between a first position and a secondposition. The first position may be an open position and the secondposition may be a closed position.

Referring to FIGS. 106-108, the first jaw member 1002 may be pivotallymovable relative to the second jaw member 1004 between a first positionand a second position. As illustrated in FIG. 108, the first jaw member1002 may include mounting holes (not shown), and the second jaw member1004 may include mounting holes 1008. The first jaw member 1002 can bearranged relative to the second jaw member 1004 such that a pivot ortrunnion pin (not shown) is inserted through the mounting holes of thefirst jaw member 1002 and the mounting holes 1008 of the second jawmember 1004 to pivotally couple the first jaw member 1002 to the secondjaw member 1004. Other suitable means for coupling the first jaw member1002 and the second jaw member 1004 are contemplated within the scope ofthis disclosure.

Referring to FIGS. 106-108, surgical end effector 1001 may be adapted toperform multiple functions. For example, surgical end effector 1001 mayinclude gripping portions 1010 disposed on exterior surfaces of thefirst jaw member 1002 and/or the second jaw member 1004. Grippingportions 1010 may be adapted for contacting and bluntly dissectingtissue. Suitable gripping portions 1010 are described, for example, inconnection with FIGS. 116-131. Surgical end effector 1001 may alsoinclude angled tissue engagement surfaces 1012 for transecting tissue.Suitable angled tissue engagement surfaces 1012 are described, forexample, in connection with FIGS. 132-142. The first jaw member 1002 mayinclude an interior surface 1014 and the second jaw member 1004 mayinclude an interior surface 1016. The first 1014 and second 1016interior surfaces may be configured to grip, pass, and/or manipulatetissue and/or surgical implements such as needles 1015 for suturingtissue. This gripping, passing, and/or manipulating functionality isdescribed, for example, in connection with FIGS. 153-168. Furthermore,surgical end effector 1001 may also include electrodes 1017 and/oranother electrically active surface for sealing blood vessels during asurgical procedure. The electrodes 1017 may be configured to deliverradio frequency (RF) energy to tissue clamped between the first jawmember 1002 and the second jaw member 1004 when in a closed position toweld/fuse the tissue, which may be transected by translating a cuttingmember 1018. Suitable electrodes are described, for example, inconnection with FIGS. 153-168.

Referring to FIGS. 108-111, surgical end effector 1001 may be releasablyattached to shaft assembly 1003. An operator or a surgeon may attachsurgical end effector 1001 to shaft assembly 1003 to perform a surgicalprocedure. In the embodiment depicted in FIG. 108, shaft assembly 1003includes a coupling arrangement in the form of a quick disconnectarrangement or joint 1019 that facilitates quick attachment of a distalshaft portion 1020 of the shaft assembly 1003 to a proximal shaftportion 1022 of the surgical end effector 1001. The quick disconnectjoint 1019 may serve to facilitate the quick attachment and detachmentof a plurality of drive train components used to provide control motionsfrom a source of drive motions to an end effector that is operablycoupled thereto.

As illustrated in FIG. 112, surgical end effector 1001 may beinterchanged with other surgical end effectors suitable for use withshaft assembly 1003. For example, surgical end effector 1001 may bedetached from shaft assembly 1003 and a second surgical end effector1024 may be attached to shaft assembly 1003. In another example, thesecond surgical end effector 1024 may be replaced with a third surgicalend effector 1026. Surgical end effectors 1001, 1024, and 1026 mayinclude common drive train components that are operably engageable withtheir counter parts in the shaft assembly 1003. Yet, surgical endeffectors 1001, 1024, and 1026 may each include unique operationalfeatures suitable for certain surgical tasks.

The surgical end effector 1001 may include an actuation mechanism. Theactuation mechanism may comprise a closure mechanism for moving thefirst jaw member 1002 relative to the second jaw member 1004. Theactuation mechanism may comprise a firing mechanism for transectingtissue grasped between the first jaw member 1002 and the second jawmember 1004. The closure and firing may be accomplished by separatemechanisms, which may be driven separately or contemporaneously.Alternatively, the closure and firing may be accomplished via a singlemechanism. Suitable closure mechanisms and suitable firing mechanismsare described, for example, in connection with FIGS. 64-82, 83-91 and92-96.

Referring to FIG. 113, an actuation mechanism 1028 is shown. Theactuation mechanism may include a reciprocating member 1030. Thereciprocating member 1030 may define a cam slot 1032 configured toreceive a cam pin 1034 coupled to the first jaw member 1002. Distal andproximal movement of the reciprocating member 1030 may cause the cam pin1032 to translate within the cam slot 1034, which may, in turn, causethe first jaw member 1002 to pivot from an open position (e.g., proximalposition of the reciprocating member 1030) to a closed (e.g., distalposition of the reciprocating member 1030). In embodiments where thefirst 1002 and the second 1004 jaw members are movable, both jaw members1002 and 1004 may comprise a cam pin and the reciprocating member 1030may define a pair of cam slots or grooves. The reciprocating member 1030may comprise an I-beam member adapted to slide over the jaw members 1002and 1004 to close the jaw members 1002 and 1004, and/or to provide aclamping force tending to force the jaw members 1002, and 1004 together.The reciprocating member 1030 may include a cutting blade 1036. Thecutting blade 1036 may be attached to the reciprocating member 1030 andsituated such that it can be extended and retracted with thereciprocating member 1030. The cutting member may be extended totransect tissue or material present between the jaw members 1002, and1004.

Referring to FIGS. 108-111, the actuation mechanism 1028 may include arotary drive nut 1038 and a threaded rotary drive member 1040. Therotary drive member 1040 may extend proximally from the reciprocatingmember 1030. The reciprocating member 1030 and the rotary drive member1040 may be formed together as one piece. Alternatively, thereciprocating member 1030 and the rotary drive member 1040 may be formedseparately and welded together. Other techniques for joining thereciprocating member 1030 and the rotary drive member 1040 may beemployed and are contemplated within the scope of this disclosure. Therotary drive nut 1038 may be operably supported within the proximalshaft portion 1022 of the surgical end effector 1001, which extendsproximally relative to the jaw members 1002, and 1004. The rotary drivenut 1038 may be rotated around a central axis extending through theproximal shaft portion 1022, for example, as described herein above. Therotary drive member 1040 may extend proximally from the reciprocatingmember 1030 along the central axis through the rotary drive nut 1038.The rotary drive nut 1038 and the rotary drive member 1040 may bearranged in a mating arrangement such that rotation of the rotary drivenut 1038 around the central axis in one direction (e.g. clockwisedirection) may advance the rotary drive member 1040, and rotation of therotary drive nut 1038 around the central axis in the opposite direction(e.g. counter clockwise direction) may retract the rotary drive member1040. This actuation mechanism and other suitable actuations mechanismsare described, for example, in connection with FIGS. 64-82, 83-91 and92-96.

Referring to FIGS. 108-111, the surgical tool 1000 may include a rotarydrive shaft 1042 disposed longitudinally through shaft assembly 1003.The rotary drive shaft 1042 may include a rotary drive head 1044 at adistal portion thereof. The rotary drive nut 1038 may comprise anactuation coupler 1046 for mating arrangement with the rotary drive head1044 such that when coupled, the rotary drive head 1044 may transmitrotary motions to the actuation coupler 1046. The rotary drive shaft1042 may be selectively moved axially between multiple discretepositions. For example, the rotary drive shaft 1042 may be extendedaxially to bring the rotary drive head 1044 into operable engagementwith the actuation coupler 1046 as depicted in FIG. 111. Alternatively,the rotary drive shaft 1042 may be retracted axially to disengage therotary drive head 1044 from the actuation coupler 1046. Such arrangementmay allow for a quick and efficient attachment and detachment of aplurality of surgical end effectors to shaft assembly 1003.

Referring to FIGS. 108-110, surgical end effector 1001 is shown detachedfrom shaft assembly 1003. The proximal shaft portion 1022 of surgicalend effector 1001 is disengaged from the distal shaft portion 1020 ofthe shaft assembly 1003. As depicted in FIG. 108, the proximal shaftportion 1022 of the surgical end effector 1001 may include a tapered endfor mating arrangement with a funneling end on the distal shaft portion1020 of the shaft assembly 1003. The rotary drive shaft 1042 may includea hollow distal portion that extends distally along a central axisthrough the rotary drive head 1044 and terminates at a distal openingthereof. The hollow distal portion may receive a proximal portion of therotary drive member 1040 when the surgical end effector 1001 is attachedto the shaft assembly 1003. The rotary drive member 1040 may rotatefreely in the hollow distal portion of the rotary drive shaft 1042. Asdepicted in FIG. 110, the surgical end effector 1001 is attached toshaft assembly 1003 simply by inserting the proximal portion of therotary drive member 1040 into the hollow portion of the rotary driveshaft 1042 and guiding the tapered end of the proximal shaft portion1022 of the surgical end effector 1001 into a mating arrangement withthe funneling end of the distal shaft portion 1020 of the shaft assembly1003. As depicted in FIG. 111, once the surgical end effector 1001 isattached to shaft assembly 1003, the rotary drive shaft 1042 may beadvanced to bring the rotary drive head 1044 into operable engagementwith the actuation coupler 1046 to transmit rotary motions to the rotarydrive nut 1038. Other attachment means and techniques for releasablyattaching the surgical end effector 1001 to the shaft assembly 1003 arecontemplated within the scope of this disclosure.

As illustrated in FIGS. 108-110, the proximal shaft portion 1022 ofsurgical end effector 1001 and the distal shaft portion 1020 of theshaft assembly 1003 may have aligning features to ensure that thesurgical end effector 1001 and the shaft assembly 1003 are correctlyaligned upon attachment. In an example embodiment, as illustrated inFIG. 108, the proximal shaft portion 1022 of surgical end effector 1001includes a key feature 1048 and the distal shaft portion 1020 of theshaft assembly 1003 may include a slot 1050 for receiving the keyfeature. Other aligning means and techniques for aligning the surgicalend effector 1001 to the shaft assembly 1003 are contemplated within thescope of this disclosure.

Referring to FIG. 114, the surgical end effector 1001 may include anactuation mechanism wherein the firing and closure are performedseparately. This actuation mechanism and other suitable actuationmechanisms are described, for example, in connection with FIGS. 83-91and 92-96. In an example embodiment, as illustrated in FIG. 114, thesurgical effector 1001 comprises a closure mechanism 1052 and a firingmechanism 1054 which are driven separately. The closure mechanism 1052includes a closure driver 1056 and the firing mechanism 1054 includes afiring driver 1058. As described above, surgical end effector 1001 maybe releasably attached to shaft assembly 1003. As depicted in FIG. 114,the proximal shaft portion 1022 of surgical end effector 1001 may bedetached from the distal shaft portion 1020 of the shaft assembly 1003.Once the proximal shaft portion 1022 of surgical end effector 1001 isattached to the distal shaft portion 1020 of the shaft assembly 1003,the shaft drive 1042 may be extended distally to a first discreteposition to be in operable engagement with the closure driver 1056.Alternatively, the shaft drive may be extended distally to a seconddiscrete position distal to the first discrete position to be inoperable engagement with the firing driver 1058.

As illustrated in FIG. 115, the surgical tool 1000 may include anarticulation joint 1060 for articulating the surgical end effector 1001about a longitudinal tool axis “LT”. In this example embodiment, thearticulation joint 1060 is disposed proximal to the distal portion 1020of the shaft assembly 1003. The articulation joint 1060 articulates thedistal portion 1020 of the shaft assembly 1003. When the proximalportion 1022 of the surgical end effector 1001 is attached to the distalportion 1020 of the shaft assembly 1003, articulation of the distalportion 1020 of shaft assembly 1003 will cause the surgical end effector1003 to articulate.

In an example embodiment, as illustrated in FIG. 115, the articulationjoint 1060 includes a proximal socket tube 1062 that is attached to theshaft assembly 1003 and defines a proximal ball socket therein. See FIG.115. A proximal ball member 1064 is movably seated within the proximalball socket. As can be seen in FIG. 115, the proximal ball member 1064has a central drive passage that enables the rotary drive shaft 1042 toextend therethrough. In addition, the proximal ball member 1064 has fourarticulation passages therein which facilitate the passage of fourdistal cables 1066 therethrough. As can be further seen in FIG. 115, thearticulation joint 1060 further includes an intermediate articulationtube segment 1068 that has an intermediate ball socket formed therein.The intermediate ball socket is configured to movably support therein adistal ball member 1070 formed on a distal connector tube 1072. Thecables 1066 extend through cable passages formed in the distal ballmember 1070 and are attached thereto by lugs 1074. Other attachmentmeans suitable for attaching cables to the end effector ball 1070 arecontemplated within the scope of this disclosure.

Referring to FIGS. 116-120, a surgical tool 900 may include a surgicalend effector extending from a shaft assembly 903. The surgical endeffector 901 may be configured to perform surgical activities inresponse to drive motions applied thereto. The surgical end effector 901may include a first jaw member 902, and a second jaw member 904. Thefirst jaw member 902 may be movable relative to the second jaw member904 between a first position and a second position. Alternatively, thefirst jaw member 902 and second jaw member 904 may be moveable relativeto each other between a first position and a second position. The firstposition may be an open position and the second position may be a closedposition.

Referring to FIGS. 116-120, the first jaw member 902 may be pivotallymovable relative to the second jaw member 904 between an open positionand a closed position. As illustrated in FIG. 120, the first jaw member902 may include mounting holes 906, and the second jaw member 904 mayinclude mounting holes 908. The first jaw member 902 can be arrangedrelative to the second jaw member 904 such that a pivot or trunnion pin(not shown) is inserted through the mounting holes 906 of the first jawmember 902 and the mounting holes 908 of the second jaw member 904 topivotally couple the first jaw member 902 to the second jaw member 904.Other suitable means for coupling the first jaw member 902 and thesecond jaw member 904 are contemplated within the scope of thisdisclosure.

Referring to FIGS. 116-120, surgical end effector 901 may be adapted toperform multiple functions. For example, surgical end effector 901 mayinclude angled tissue engagement surfaces 910 for transecting tissue.Suitable tissue engagement surfaces 910 are described, for example, inconnection with FIGS. 132-142. The first jaw member 902 may include aninterior surface 912 and the second jaw member 904 may include aninterior surface 914. The first interior surface 912 and the secondinterior surface 914 may be configured to grip, pass, and/or manipulatetissue and/or surgical implements such as needles 915 for suturingtissue. This gripping, passing, and/or manipulating functionality isdescribed, for example, in connection with FIGS. 153-168.

Referring to FIGS. 116-120, the surgical end effector 901 may alsoinclude electrodes 916 and/or another electrically active surface forsealing blood vessels during a surgical procedure. The electrodes 916may be configured to deliver radio frequency (RF) energy to tissueclamped between the first jaw member 902 and the second jaw member 904when in a closed position to weld/fuse the tissue, which may betransected by translating a cutting member. Suitable electrodes 916 aredescribed, for example, in connection with FIGS. 6-10 and FIGS. 153-168.The surgical end effector 901 may be releasably attached to a shaftassembly 903. An operator or a surgeon may attach surgical end effector901 to shaft assembly 903 to perform a surgical procedure. Suitabletechniques and mechanisms for releasably attaching the surgical endeffector 901 to the shaft assembly 903 are described, for example, inconnection with FIGS. 106-115.

Referring to FIGS. 116-120, the surgical end effector 901 may include anactuation mechanism. The actuation mechanism may comprise a closuremechanism for moving the first jaw member relative to the second jawmember. The actuation mechanism may comprise a firing mechanism fortransecting tissue grasped between the first jaw member and the secondjaw member. The closure and firing may be accomplished by separatemechanisms, which may be driven separately or contemporaneously.Alternatively, the closure and firing may be accomplished by a singlemechanism. Suitable closure mechanisms and suitable firing mechanismsare described, for example, in connection with FIGS. 64-82, 83-91 and92-96.

As illustrated in FIG. 117, an example actuation mechanism 920 is shown.The actuation mechanism 920 may include a reciprocating member 918similar to the axially movable member 3016 described herein above. Thereciprocating member 918, or a cam pin 924 thereof, may be receivedwithin a cam slot 922. Distal and proximal movement of the reciprocatingmember 918 may cause the cam pin 924 to translate within the cam slot922, which may, in turn, cause the first jaw member 902 to pivot from anopen position (e.g., proximal position of the reciprocating member 918)to a closed (e.g., distal position of the reciprocating member 918). Inembodiments where the first 902 and the second 904 jaw members aremovable, both jaw members may comprise cam slot 922 and thereciprocating member 918 may define a pair of cam pins. Thereciprocating member 918 may comprise an I-beam member adapted to slideover the first jaw member 902 and the second jaw member 904 to close thefirst jaw member 902 and the second jaw member 904, and/or to provide aclamping force tending to force the first jaw member 902 and the secondjaw member 904 together. The reciprocating member 918 may include acutting blade 926. The cutting blade 926 may be attached to thereciprocating member 918 and situated such that it can be extended andretracted with the reciprocating member 918. The cutting blade 926 maybe extended to transect tissue or material present between the first jawmember 902 and the second jaw member 904.

Referring to FIGS. 116-120, the first jaw member 902 may include anexterior surface 928. The exterior surface of first jaw member 902 mayinclude a first tissue gripping portion 930. The second jaw member 904may also include an exterior surface 932. The exterior surface 932 ofsecond jaw member 904 may include a second tissue gripping portion 934.The first tissue gripping portion 930 and second tissue gripping portion934 may grip tissue by contacting and temporarily adhering to tissue.The first gripping portion 930 and the second gripping portion 934 maycontact and bluntly dissect tissue while the first jaw member 902 andthe second jaw member 904 is moving relative to each other from theclosed position to the open position.

In an example embodiment, the surgical end effector 901 may be utilizedduring a surgical procedure to dissect tissue. For example, the firstgripping portion 930 and the second gripping portion 934 may contact andtemporarily adhere to a first and second tissue portions (not shown)respectively such that when the first jaw member 902 is moved relativeto the second jaw member 904 from a closed position to an open position,the first tissue portion is separated from the second tissue portionalong facial planes while substantially preserving locoregionalarchitecture and structural integrity of vessels and nerves. The firstgripping portion 930 and the second gripping portion 934 may beconfigured to create operative space during a surgical procedure bybluntly separating (dissecting) tissue layers as the first jaw member902 is moved relative to the second jaw member 904.

As illustrated in FIG. 121, the first gripping portion 930 and thesecond gripping portion 934 may be formed onto distal sections of theexterior surfaces 928 and 932 of the first and second jaw members 902and 904 by applying a coating. In one embodiment, the first and secondgripping portions 930 and 934 are attached to the exterior surfaces 928and 932 of their respective jaw members by an adhesive. In oneembodiment, the first and second gripping portions 930 and 934 are pressfitted onto distal portions of the exterior surfaces 928 and 932. Othertechniques and attachment means suitable for attaching or forming agripping portion onto an exterior surface are contemplated by thecurrent disclosure.

The first and second gripping portions 930 and 934 may include materialswith high coefficient of friction to grip tissue as tissue slidesrelative to the first and second jaw members 902 and 904 upon moving thefirst and second jaw members 902 and 904 relative to each other to theopen position thereby separating (dissecting) tissue layers alongfascial planes while substantially preserving locoregional architectureand structural integrity of vessels and nerves. Examples of materialswith high coefficient of friction that may be utilized to form the firstand second gripping portions 930 and 934 include but are not limited toSilicone based elastomers, styrenic-based thermoplastic elastomers(TPE), polyisoprene, low density polyethylene, polypropylene, sanoprene,silicone, polyurethane, natural rubber, isoplast, liquid crystal polymer(LCP), etc.

The first and second gripping portions 930 and 934 may include asemi-rigid material sufficiently flexible to contour without shearingupon tissue contact. The first and second gripping portions 930 and 934may include a non-allergenic biocompatible material. In one embodiment,the first and second gripping portions 930 and 934 may comprise amaterial with a low Young's modulus and high yield strain such as anelastomer. Examples of suitable elastomers include but are not limitedto Silicone based elastomers, styrenic-based thermoplastic elastomers(TPE), polyisoprene, low density polyethylene, polypropylene, sanoprene,silicone, polyurethane, natural rubber, isoplast, liquid crystal polymer(LCP), etc.

Referring to FIGS. 1116-120, the first and second gripping portions 930and 934 may include gripping features 936. The gripping features 936 maybe sufficiently flexible to contour without shearing upon tissuecontact. The gripping features 936 may be in the form of protrusions938. In at least one embodiment, the gripping features 936 may be in theform of depressions 940.

Referring to FIGS. 121-126., the gripping features 936 may be spatiallyarranged in a gripping pattern 942. Gripping pattern 942 may include aplurality of protrusions 938. The gripping pattern may include aplurality of depressions 940. In at least one embodiment, as illustratedin FIG. 127 the gripping pattern 942 may include a plurality ofalternating protrusions 938 and depressions 940. In one embodiment, asillustrated in FIG. 123, the gripping pattern 942 may include fourprotrusions 938.

As illustrated in FIG. 128, gripping pattern 942 may include a pluralityof protrusions 940 spatially arranged in a circle. Other arrangementsare possible and within the scope of the present disclosure. Asillustrated in FIG. 122, gripping pattern 942 may include a plurality ofprotrusions 938 spatially arranged in multiple rows wherein each rowincludes several protrusions 938 aligned along the length of the row.Each row may include alternating pretensions 938 and depressions 940.

Referring to FIG. 123-128, the gripping pattern 942 may include verticalprotrusions 938 that extend horizontally on gripping portion 930. Asillustrated in FIG., the vertical protrusions 938 may extend in opposingdirections. In certain embodiments, as illustrated in FIG. 124, theprotrusions 938 may extend in parallel rows. In at least one embodiment,as illustrated in FIG. 125, gripping pattern 942 includes a firstplurality of parallel protrusions 938 a, and a second plurality ofparallel protrusions 938 b, wherein the first plurality 938 a is in aslanted arrangement with the second plurality 938 b. In at least oneembodiment, as illustrated in FIG. 125, the gripping portion 930 mayinclude a herringbone pattern.

Referring to FIGS. 129-131, the gripping pattern 942 may define verticalprotrusions 938 that extend horizontally on gripping portion 930 in anon linear fashion. For example, as illustrated in FIG. 129, thenon-linear protrusions 938 may extend in a in a zigzag fashion. Incertain embodiments, as illustrated in FIGS. 130 and 131, the non-linearprotrusions 938 may extend in parallel rows. In certain embodiments, asillustrated in FIGS. 130, and 131, the non-linear protrusions 938 mayextend in opposing directions.

Referring to FIGS. 132 through 137, an end effector 500 comprises afirst jaw member 502A and a second jaw member 502B. The first jaw member502A is movable relative to the second jaw member 502B between an openposition (FIGS. 132 and 136) and a closed position (FIGS. 133, 134, and137) to clamp tissue between the first jaw member 502A and the secondjaw member 502B. The first jaw member 502A comprises angledtissue-contacting surfaces 504A and 506A. The second jaw member 502Bcomprises angled tissue-contacting surfaces 504B and 506B. The first jawmember 502A comprises a first positively-angled tissue-contactingsurface 504A and a first negatively-angled tissue-contacting surface506A. The second jaw member 502B comprises a second positively-angledtissue-contacting surface 504B and a second negatively-angledtissue-contacting surface 506B.

As used herein, the terms “positively-angled” and “negatively-angled”refer to the direction in which a tissue-contacting surface is angledrelative to the body of the jaw member comprising the tissue-contactingsurface and a clamping plane of the jaw member. Referring to FIG. 138, afirst jaw member 502A′ and a second jaw member 502B′ are shown in aclosed position such as to clamp tissue between the opposed jaw members502A′ and 502B′. This closed position is analogous to the closedposition shown in FIGS. 133, 134, 135, 137, and 142. The first jawmember 502A′ comprises a first jaw body 503A′, a first tissue grippingelement 507A′, and a first clamping plane 505A. The second jaw member502B′ comprises a second jaw body 503B′, a second tissue grippingelement 507B′, and a second clamping plane 505B. Generally, the tissuegripping elements and the clamping planes of the jaw members of an endeffector are in an opposed orientation when the jaw members are in aclosed position such as to clamp tissue between opposed jaw members.

The first jaw member 502A′ comprises a first positively-angledtissue-contacting surface 504A′ forming an angle (α) relative to thefirst clamping plane 505A and away from the first jaw body 503A′ at theperiphery of the first tissue gripping element 507A′ of the first jawmember 502A′. The first jaw member 502A′ comprises a firstnegatively-angled tissue-contacting surface 506A′ forming an angle (α)relative to the first clamping plane 505A and toward from the first jawbody 503A′ at the periphery of the first tissue gripping element 507A′of the jaw member 502A′.

Accordingly, as used herein, the term “positively-angled” is used tospecify tissue-contacting surfaces that angle away from a clamping planeand that angle away from the jaw body at the periphery of the tissuegripping element of the jaw member comprising the positively-angledtissue-contacting surface. Likewise, as used herein, the term“negatively-angled” is used to specify tissue-contacting surfaces thatangle away from a clamping plane and that angle toward the jaw body atthe periphery of the tissue gripping element of the jaw membercomprising the negatively-angled tissue-contacting surface.

Thus, the second jaw member 502B′ comprises a second positively-angledtissue-contacting surface 504B′ forming an angle (α) relative to thesecond clamping plane 505B and away from the second jaw body 503B′ atthe periphery of the second tissue gripping element 507B′ of the secondjaw member 502B′. The second jaw member 502B′ comprises a secondnegatively-angled tissue-contacting surface 506B′ forming an angle (α)relative to the second clamping plane 505B and toward from the secondjaw body 503B′ at the periphery of the second tissue gripping element507B′ of the second jaw member 502B′.

Referring again to FIGS. 132-134, the first jaw member 502A comprises afirst jaw body 503A and a first tissue gripping element 507A, and thesecond jaw member 502B comprises a second jaw body 503B and a secondtissue gripping element 507B. The first positively-angledtissue-contacting surface 504A of the first jaw member 502A is angledaway from the first jaw body 503A at the periphery of the first tissuegripping element 507A. The first negatively-angled tissue-contactingsurface 506A of the first jaw member 502A is angled toward the first jawbody 503A at the periphery of the first tissue gripping element 507A.The second positively-angled tissue-contacting surface 504B of thesecond jaw member 502B is angled away from the second jaw body 503B atthe periphery of the second tissue gripping element 507B. The secondnegatively-angled tissue-contacting surface 506B of the second jawmember 502B is angled toward the second jaw body 503B at the peripheryof the second tissue gripping element 507B.

When the first jaw member 502A and the second jaw member 502B are in aclosed position, such as to clamp tissue between the first and secondjaw members, the first positively-angled tissue-contacting surface 504Aopposes the second negatively-angled tissue-contacting surface 506B.When the first jaw member 502A and the second jaw member 502B are in aclosed position, such as to clamp tissue between the first and secondjaw members, the first negatively-angled tissue-contacting surface 506Aopposes the second positively-angled tissue-contacting surface 504B.

As shown in FIGS. 132-133 and 136-137, the first positively-angledtissue-contacting surface 504A and the first negatively-angledtissue-contacting surface 506A are disposed along substantially theentire length of the first jaw member 502A. The second positively-angledtissue-contacting surface 504B and the second negatively-angledtissue-contacting surface 506B are disposed along substantially theentire length of the second jaw member 502B.

The end effector 500 comprises an “I-beam” member 508, which in someembodiments, may function as a closure member and/or a tissue-cuttingmember. The I-beam member 508 may operate in a manner similar to thatdescribed herein above with respect to the axially movable member 3016described herein above. The I-beam member 508 may be sized andconfigured to fit at least partially within channels in the first jawmember 502A and the second jaw member 502B. The I-beam member 508 mayoperably translate along the channels in the first jaw member 502A andthe second jaw member 502B, for example, between a first, proximallyretracted position correlating with the jaw members 502A and 502B beingat an open position, and a second, distally advanced positioncorrelating with the jaw members 502A and 502B being at a closedposition. In this manner, for example, the I-beam member 508 may beconfigured to operably translate within the channels in the first andsecond jaw members 502A and 502B to close the jaw members using acaroming action and/or to advance a cutting member through the first andsecond tissue gripping elements 507A and 507B to transect tissue clampedbetween the first and second jaw members 502A and 502B.

The movement of the first jaw member 502A relative to the second jawmember 502B between an open position (FIGS. 132 and 136) and a closedposition (FIGS. 133, 134, and 137) to clamp tissue between the first jawmember 502A and the second jaw member 502B may be actuated with asuitable closure actuation mechanism. Translation of the I-beam memberbetween a retracted position and an advanced position may be actuatedwith a suitable translation actuation mechanism. Suitable closureactuation mechanisms and suitable translation actuation mechanisms aredescribed, for example, in connection with FIGS. 64-82, 83-91 and 92-96.

Referring to FIGS. 139 and 140, an end effector 510 comprises a firstjaw member 512A and a second jaw member 512B. The first jaw member 512Ais movable relative to the second jaw member 512B between an openposition (FIGS. 139 and 140) and a closed position (no shown) to clamptissue between the first jaw member 512A and the second jaw member 512B.The first jaw member 512A comprises angled tissue-contacting surfaces514A and 516A. The second jaw member 512B comprises angledtissue-contacting surfaces 514B and 516B. The first jaw member 512Acomprises a first positively-angled tissue-contacting surface 514A and afirst negatively-angled tissue-contacting surface 516A. The second jawmember 512B comprises a second positively-angled tissue-contactingsurface 514B and a second negatively-angled tissue-contacting surface516B.

The first jaw member 512A comprises a first jaw body 513A and a firsttissue gripping element 517A, and the second jaw member 512B comprises asecond jaw body 513B and a second tissue gripping element 517B. Thefirst positively-angled tissue-contacting surface 514A of the first jawmember 512A is angled away from a first jaw body 513A at the peripheryof the first tissue gripping element 517A. The first negatively-angledtissue-contacting surface 516A of the first jaw member 512A is angledtoward the first jaw body 513A at the periphery of the first tissuegripping element 517A. The second positively-angled tissue-contactingsurface 514B of the second jaw member 512B is angled away from a secondjaw body 513B at the periphery of the second tissue gripping element517B. The second negatively-angled tissue-contacting surface 516B of thesecond jaw member 512B is angled toward the second jaw body 513B at theperiphery of the second tissue gripping element 517B.

When the first jaw member 512A and the second jaw member 512B are in aclosed position, such as to clamp tissue between the first and secondjaw members, the first positively-angled tissue-contacting surface 514Aopposes the second negatively-angled tissue-contacting surface 516B.When the first jaw member 512A and the second jaw member 512B are in aclosed position, such as to clamp tissue between the first and secondjaw members, the first negatively-angled tissue-contacting surface 516Aopposes the second positively-angled tissue-contacting surface 514B.

The first positively-angled tissue-contacting surface 514A is disposedalong a proximal portion of the length of the first jaw member 512A. Thesecond positively-angled tissue-contacting surface 514B is disposedalong a proximal portion of the length of the second jaw member 512B.The first negatively-angled tissue-contacting surface 516A is disposedalong substantially the entire length of the first jaw member 512A. Thesecond negatively-angled tissue-contacting surface 516B is disposedalong substantially the entire length of the second jaw member 502B.

The end effector 510 comprises an “I-beam” member 518, which in someembodiments, may function as a closure member and/or a tissue-cuttingmember. The I-beam member 518 may be sized and configured to fit atleast partially within channels in the first jaw member 512A and thesecond jaw member 512B. The I-beam member 518 may translate along thechannels in the first jaw member 512A and the second jaw member 512B,for example, between a first, proximally retracted position correlatingwith the jaw members 512A and 512B being at an open position, and asecond, distally advanced position correlating with the jaw members 512Aand 512B being at a closed position. In this manner, for example, theI-beam member 518 may be configured to operably translate within thechannels in the first and second jaw members 512A and 512B to close thejaw members using a camming action and/or to advance a cutting memberthrough the first and second tissue gripping elements 517A and 517B totransect tissue clamped between the first and second jaw members 512Aand 512B.

The movement of the first jaw member 512A relative to the second jawmember 512B between an open position (FIGS. 139 and 140) and a closedposition (not shown) to clamp tissue between the first jaw member 512Aand the second jaw member 512B may be actuated with a suitable closureactuation mechanism. Translation of the I-beam member between aretracted position and an advanced position may be actuated with asuitable translation actuation mechanism. Suitable closure actuationmechanisms and suitable translation actuation mechanisms are described,for example, in connection with FIGS. 64-82, 83-91 and 92-96.

The first jaw member 512A and the second jaw member 512B comprise afirst distal textured portion 519A and second distal textured portion519B, respectively. The first distal textured portion 519A of the firstjaw member 512A is disposed distal and directly adjacent to the proximaltissue gripping element 517A of the first jaw member 512A comprising thefirst positively-angled tissue-contacting surface 514A. The firstpositively-angled tissue-contacting surface 514A does not extenddistally along the length of the first jaw member 512A into the firstdistal textured portion 519A. The second distal textured portion 519B ofthe second jaw member 512B is disposed distal and directly adjacent tothe proximal tissue gripping element 517B of the second jaw member 512Bcomprising the second positively-angled tissue-contacting surface 514B.The second positively-angled tissue-contacting surface 514B does notextend distally along the length of the second jaw member 512B into thesecond distal textured portion 519B. The first and second distaltextured portions 519A and 519B of the first and second jaw members 512Aand 512B may be opposed and may allow the end effector 510 to grip,pass, and/or manipulate surgical implements such as needles for suturingtissue, in addition to gripping tissue, for example, during dissectionoperations. This gripping, passing, and/or manipulating functionality isdescribed, for example, in connection with FIGS. 116-131 and 154-164.

The first jaw member 512A and the second jaw member 512B comprise afirst gripping portion 521A and second gripping portion 521B,respectively. The first gripping portion 521A is disposed on anoutwardly-facing surface of the first jaw member 512A, and the secondgripping portion 521B is disposed on an outwardly-facing surface of thesecond jaw member 512B. The gripping portions 521A and 521B may functionto aid in tissue dissection as described, for example, in connectionwith FIGS. 116-131 and 154-164.

FIG. 141 is a perspective view of an end effector 510′ similar to theend effector 510 shown in FIGS. 139 and 140, but comprising electrodes522 located in the second tissue gripping element 517B of the second jawmember 516B and located between the second positively-angledtissue-contacting surface 514B and the second negatively-angledtissue-contacting surface 516B. The electrodes 522 may be configured todeliver RF energy to tissue clamped between the first jaw member 512Aand the second jaw member 512B when in a closed position to weld/fusethe tissue, which may be transected by translating the I-beam member 518comprising a cutting member. Although FIG. 141 shows two electrodes 522,it is understood that an end-effector in accordance with the embodimentsdescribed in this specification may comprise at least one or moreelectrodes comprising any suitable shape and orientation, as described,for example, in this specification. The second jaw member 516B alsocomprises an offset electrode 524 at the distal tip 525 configured todeliver RF energy to tissue during dissection operations, for example.In some embodiments, the first distal textured portion 519A and seconddistal textured portion 519B may also be electrodes configured, forexample, to deliver RF energy to tissue during dissection operations.This electrode functionality is described, for example, in connectionwith FIGS. 154-164.

Referring to FIG. 142, an end effector 530 comprises a first jaw member532A and a second jaw member 532B shown in a closed position clampingtissue 545 between the jaw members. The first jaw member 532A comprisesa first positively-angled tissue-contacting surface 534A and a firstnegatively-angled tissue-contacting surface 536A. The second jaw member532B comprises a second positively-angled tissue-contacting surface 534Band a second negatively-angled tissue-contacting surface 536B. Thetissue 545 physically contacts the angled tissue-contacting surfaces534A, 534B, 536A, and 536B. The physical contact between the tissue 545and the angled tissue-contacting surfaces 534A, 534B, 536A, and 536Bcompresses the tissue 545 between the first jaw member 532A and thesecond jaw member 532B. As shown in FIG. 142, the clamping of the tissuebetween the first jaw member 532A and the second jaw member 532Bcompresses the tissue 545 between the mutually opposed tissue-contactingsurfaces 536A and 534B, and also between the mutually opposedtissue-contacting surfaces 534A and 536B, which establishes a tortuousdeformation in the compressed tissue 545. The tortuous deformationimproves the clamping action of the end effector 530 on the tissue 545,which in turn, improves the welding/fusion of the tissue 545 and/or thetransection of the tissue 545. The tissue 545 can be welded/fused, forexample, by the application of RF energy through electrodes 542 locatedin the tissue gripping element of the second jaw member 532B and locatedbetween the second positively-angled tissue-contacting surface 534B andthe second negatively-angled tissue-contacting surface 536B. The tissue545 can be transected, for example, by translating the I-beam member538, which translates the cutting member 541 through the clamped tissue545.

In some embodiments, an end effector may comprise a first jaw membercomprising a first positively-angled tissue-contacting surface and afirst negatively-angled tissue-contacting surface, and a second jawmember comprising a second positively-angled tissue-contacting surfaceand a second negatively-angled tissue-contacting surface. The angledtissue-contacting surfaces may form angles (α) relative to a clampingplane as described, for example, in connection with FIG. 138. Themagnitude of the angle (α) between a tissue contacting surface and aclamping plane may range from 5-degrees to 85-degrees or any sub-rangesubsumed therein such as, for example, from 10-degrees to 80-degrees,from 20-degrees to 70-degrees, from 30-degrees to 60-degrees, from40-degrees to 50-degrees, from 25-degrees to 50-degrees, or from30-degrees to 45-degrees.

In some embodiments, angled tissue-contacting surfaces may independentlyform angles relative to respective clamping planes. The angle formed bythe angled tissue-contacting surfaces may be substantially the same ordifferent in a given end effector. For example, two opposed angledtissue-contacting surfaces (e.g., a first positively-angledtissue-contacting surface and an opposed second negatively-angledtissue-contacting surface) may both form a common angle (α₁) relative torespective clamping planes, and two other opposed angledtissue-contacting surfaces (e.g., a first negatively-angledtissue-contacting surface and an opposed second positively-angledtissue-contacting surface) may both form a common angle (α₂) relative torespective clamping planes, wherein |α₁|≠|α₂|.

In some embodiments, an angled tissue-contacting surface may extend apredetermined distance normal to a respective clamping plane coincidentwith a horizontal tissue contacting portion of a jaw member. Forexample, referring to FIG. 138, the first positively-angledtissue-contacting surface 504A′ extends a distance normal to the firstclamping plane 505A, and the second positively-angled tissue-contactingsurface 504B′ extends a distance normal to the second clamping plane505B. Likewise, the first negatively-angled tissue-contacting surface506A′ extends a distance normal to the first clamping plane 505A, andthe second negatively-angled tissue-contacting surface 506B′ extends adistance normal to the second clamping plane 505B. In some embodiments,an angled tissue-contacting surface may extend a distance between 0.025inch to 0.25 inch normal to a respective clamping plane, or anysub-range subsumed therein such as, for example, 0.025 inch to 0.01 inchor 0.025 inch to 0.05 inch.

While the angled tissue-contacting surfaces shown in FIGS. 132 through142 are illustrated as being planar surfaces, it is to be appreciatedthat in some embodiments, the angled tissue-contacting surfaces may becurved surfaces or a combination of planar surfaces and curved surfaces.

In some embodiments, end effectors comprising angled tissue-contactingsurfaces may be configured to operably couple to robotic surgicalsystems such as, for example, the robotic surgical systems described inconnection with, for example, FIGS. 1-45. In some embodiments, endeffectors having angled tissue-contacting surfaces may be configured tooperably couple to hand-held surgical devices such as, for example, thehand-held surgical devices described in connection with FIGS. 46-63.

The angled tissue-contacting surfaces described in connection with FIGS.132 through 142 provide various advantages to end effectors configuredto grip/clamp tissue, weld/fuse tissue, transect tissue, or anycombination of these operations. For example, in some embodiments, asillustrated in FIGS. 132 through 142, the positively-angled tissuecontacting surfaces are integral with the outer surfaces of the jawmembers (i.e., formed from a single piece of material). As such, thepositively-angled tissue contacting surfaces provide for a thicker jawmember structure in the thickness dimension (labeled dimension T inFIGS. 141 and 142). The thicker jaw member structure increases thestrength and stiffness of the jaw members, which provides improvedgripping/clamping load to tissue. In some embodiments, for example, athicker jaw member structure provided by positively-angled tissuecontacting surfaces may increase the moment of inertia of the jawmembers by 20-30% relative to jaw members comprising co-planartissue-contacting surfaces. An increased moment of inertia may providean improved weld zone for fusing and cauterizing tissue clamped in anend effector comprising angled tissue-contacting surfaces by providing amore focused area for RF energy to enter and fuse tissue.

Any of the electrosurgical tools described herein may be energizedutilizing current/energy paths extending from the generator or othersignal source (such as generator 3002) through conductors, such as thesupply 3012 and return 3014 conductors (see FIG. 6), through the shaftassembly to the electrode or electrodes. Within the shaft assembly, thecurrent paths may be provided by wires that extend through the shaftassembly. Wires, however, must be configured to avoid kinking, twistingor other deformation at the various articulation and rotation joints ofthe tools, including the articulation joint 3500 described herein. Inthe illustrated embodiments, an electrosurgical tool may utilizecomponents of the shaft assembly as current paths for energizingelectrosurgical electrodes. This may eliminate the need for wires andsimplify articulation and rotation of the surgical tool.

In the illustrated embodiments, a rotary connector assembly may beutilized to allow a rotary drive shaft or other internal component ofthe shaft assembly to provide an energized current path between agenerator and the end effector and/or an electrode thereof. The rotaryconnector may be configured to maintain a connection between theenergized current path and the end effector despite rotation of theshaft and/or end effector. In bi-polar configurations, a return path maybe formed by conductive components of the shaft and end effector suchas, for example, a skin of the shaft, the I-beam member or other knife,portions of the various jaw members, etc., as described herein

FIGS. 143-146 illustrate one embodiment of a rotary connector assembly1100 installed in an end effector 550 and shaft assembly 560 asdescribed herein with respect to FIGS. 64-81. FIG. 143 is across-sectional view of one embodiment of the end effector 550 and shaftassembly 560 illustrating an example installation of the rotaryelectrode assembly 1100. FIG. 144 is an exploded view of one embodimentof the end effector 550 and shaft assembly 560 showing the rotaryelectrode assembly 1100 both installed on the rotary drive shaft 630(indicated by reference numbers 1100′, 1102′, 1104′) and exploded(indicated by reference numbers 1100, 1102, 1104). FIG. 145 is across-sectional view of one embodiment of the end effector 550 and shaftassembly 560 showing the rotary electrode assembly 1100 with a rotarydrive head 632 in a proximal position. FIG. 146 is a cross-sectionalview of one embodiment of the end effector 550 and shaft assembly 560showing the rotary electrode assembly 1100 with the rotary drive head632 in a distal position.

The rotary electrode assembly 1100 may be positioned within the endeffector drive housing 608 and may comprise an outer contact 1102 and aninner contact 1103. The outer contact 1102 may be positioned around aninner wall of the end effector drive housing 608. In the illustratedembodiment, and in functionally similar embodiments, the outer contact1102 may be in the shape of a cylinder or other figure of revolution.The outer contact 1102 may be in electrical communication with one ormore electrodes 1112 in the end effector 550 via one or more leads, suchas lead 1110. The lead 1110 may be in physical contact with the outercontact 1102 and may extend through the lower jaw member 602B to theelectrode 1112 as shown. The lead 1110 may be fastened to the electrode1112 in any suitable manner including, for example, with a solder orother similar joint. For example, multiple energized electrodes may beutilized with one lead 1110 directed to each electrode. In theillustrated embodiment, the lead 1110 may be insulated so as to avoidelectrical communication with other portions of the end effector 550 andshaft assembly 560.

The inner contact 1103 may be physically coupled to the rotary driveshaft 630, for example, proximal from the hex coupling portion 634, asshown. The inner contact 1103 may be in electrical contact with theouter contact 1102. For example, the inner contact 1103 may be inphysical contact with the outer contact 1102. In the illustratedembodiment and in functionally similar embodiments, the inner contact1103 may maintain electrical contact with the outer contact 1102 as therotary drive shaft 630 and/or the end effector 560 rotates. For example,the outer contact 1102 may be a figure of revolution such that the innercontact 1103 is in physical contact with the contact 1102 as the rotarydrive shaft 630 rotates.

In the illustrated embodiment and in functionally similar embodiments,the inner contact 1103 may also be a figure of revolution. For example,as illustrated, the inner contact 1103 may comprise a ringed brush 1104and a grooved conductor 1106. The grooved conductor 1106 may bepositioned around the rotary drive shaft 630 proximal from the hexcoupling portion 634. The grooved conductor 1106 may define a groove1107 to receive the ringed brush 1104. The ringed brush 1104 may have adiameter larger than that of the groove 1107. In the illustratedembodiment and in functionally similar embodiments, the ringed brush1104 may define a slot 1105. For example, the slot 1105 may allow thediameter of the ringed brush 1104 to expand and contract. For example,the diameter of the ringed brush 1104 may be expanded in order to placeit over the remainder of the grooved conductor 1106 and into the slot1107. Also, when the inner contact 1103 is placed within the outercontact 1102, its diameter may be contracted. In this way, the tendencyof the ringed brush 1104 to resume its original diameter may cause theringed brush 1104 to exert an outward force on the outer contact 1102tending to keep the ringed brush 1104 and outer contact 1102 in physicaland electrical contact with one another.

The inner contact 1103 may be in electrical communication with asuitable shaft component, thus completing the current path from theelectrode 1112 to a generator, such as the generator 3002 describedherein above with respect to FIG. 6 and/or an internal generator. In theillustrated embodiment, the inner contact 1103, and particularly thegrooved conductor 1106, is in physical and electrical contact with acoiled wire component 1114 wrapped around the rotary drive shaft 630.The coiled wire component 1114 may extend proximally through the shaftwhere it may be coupled directly or indirectly to the generator. Asdescribed herein, the coiled wire component 1114 may also act as aspring to provide rigidity to the rotary drive shaft 630 around anarticulation joint, for example, as described herein with respect toFIGS. 31-31 and spring 3612. In some embodiments, the rotary drive shaft630 may comprise an outer insulated sleeve. The inner contact 1103 maybe in electrical contact with the outer insulated sleeve in addition toor instead of the coiled wire component 1114. An example insulatedsleeve 1166 is described herein with respect to FIG. 151. Anotherexample of a potential insulated sleeve is the constraining member 3660described herein above with respect to FIG. 45.

In the illustrated embodiment, the a current return path from theelectrode 1112 may be provided by various components of the end effector550 and shaft assembly 560 including, for example, the jaw members 602A,602B, the end effector drive housing 608 and other shaft membersextending proximally. Accordingly, portions of the energized currentpath may be electrically isolated from other components of the endeffector 550 and shaft assembly 560. For example, as described above,the lead 1110 between the outer contact 1102 and electrode 1112 may besurrounded by an electrical insulator 1111, as shown. Also, the outercontact 1102 and inner contact 1103 may be isolated from othercomponents of the end effector 550 and shaft assembly 560. For example,an insulator 1118 may be positioned to electrically isolate the outercontact 1102 from the end effector drive housing 608. An insulator 1116may be positioned to isolate the outer contact 1102 and inner contact1103 from the rotary drive shaft 630. The insulator 1118 may be anadditional component or, in some embodiments, may be provided as aTEFLON or other insulating coating. As illustrated in FIGS. 145-146, theinsulator 1116 may extend proximally, also isolating the coiled wirecomponent 1114 from both the rotary drive shaft 630 and from othercomponents of the shaft assembly 560 such as, for example, the endeffector drive housing 608.

In the embodiment illustrated in FIGS. 145-146, the outer contact 1102may be extended proximally and distally such that electrical contactbetween the outer contact 1102 and inner contact 1103 is maintained withthe rotary drive shaft 630 and rotary drive head 632 in differentproximal and distal positions. For example, in FIG. 145, the rotarydrive shaft 630 and rotary drive head 632 are pulled proximally suchthat the male hex coupling portion 636 of the drive shaft head 632 isreceived by hex shaft coupling portion 609 of the end effector drivehousing 608. In this position, rotation of the rotary drive shaft 630may cause rotation of the end effector drive housing 608 and endeffector 550, as described herein. Additionally, as illustrated in FIG.145, the inner contact 1103 may be in physical and electrical contactwith the outer contact 1102. In FIG. 146, the rotary drive shaft 630 androtary drive head 632 are pushed distally such that the hex couplingportion 634 of the rotary drive head 632 receives the threaded rotarydrive nut 606. In this position, rotation of the rotary drive shaft 630may cause rotation of the threaded rotary drive nut 606 that, in turn,causes rotation of the threaded rotary drive member 604 and distaland/or proximal translation of the I-beam member 620. Additionally, asillustrated in FIG. 146, the inner contact 1103 may be in physical andelectrical contact with the outer contact 1102.

FIGS. 147-148 are cross-sectional views of one embodiment of the endeffector 550 and shaft assembly 560 where a longitudinal length of theouter contact 1108 is selected such that the rotary connector assembly1100 alternately creates and breaks an electrical connection limited bythe longitudinal position of the inner contact 1103. For example, inFIG. 147, the rotary drive shaft 630 and rotary drive head 632 arepositioned proximally such that the male hex coupling portion 636 isreceived into the hex shaft coupling portion 609 of the distal shaftportion 608. As illustrated, the inner contact 1103 (and specificallythe ring brush 1104) may contact not the contact 1102, but instead maycontact the insulator 1108. In this way, there may not be a completedelectrical connection between the electrode 1112 and the generator whenthe rotary drive shaft 630 and rotary drive head 632 are in the proximalposition shown in FIG. 147. When the rotary drive shaft 630 and rotarydrive head 632 are positioned distally to contact the threaded drive nut606, as illustrated in FIG. 148, the inner contact 1103 may be inelectrical (and physical) contact with the contact 1102, completing thecurrent path between the electrode 1112 and generator. The configurationillustrated in FIGS. 147-148 may be useful in various differentcontexts. For example, it may be undesirable to energize the electrode1112 when the jaw members 602A, 602B are open. In the illustratedembodiment, the jaw members 602A, 602B are closed by the rotary driveshaft 630 when the shaft 630 is positioned distally (FIG. 148) and notwhen the shaft 630 is positioned proximally (FIG. 147). Accordingly, inthe configuration of FIGS. 147-148, the current path from the generatorto the electrode 1112 is complete only when the rotary drive shaft 630and rotary drive head 632 are positioned distally.

In some of the embodiments described herein, the end effector 550 may beremovable from the end effector drive housing 608 and, for example, maybe interchangeable with other end effectors (not shown). Examples ofmechanisms for implementing interchangeable electrodes are providedherein with respect to FIGS. 106-115. In such implementations, the lead1110 may comprise an end effector portion and a shaft portion connectedby a connector assembly. FIGS. 149-150 illustrate one embodiment of theend effector 550 and shaft assembly 560 showing a configurationincluding the lead portions 1130, 1132 and connector assembly 1120. Forexample, as illustrated in FIGS. 149-150 and as described herein, aproximal portion 603 of the jaw member 602B may be received within theend effector drive housing 608. The proximal portion 603 of the jawmember 602B is illustrated within the end effector drive housing 608 inFIG. 149 and separated from the end effector drive housing 608 in FIG.150. The connector assembly 1120 may comprise an end effector side-lead1122 and a shaft-side lead 1124. The respective leads may be broughtinto physical and electrical contact with one another when the proximalportion 603 is received into the distal shaft portion 608, asillustrated in FIG. 149. In various embodiments, the connector assembly1120 may be configured so as to maintain electrical isolation of theenergized current path from other components of the end effector 550 andshaft 560. For example, insulation 1126, 1128 may electrically isolatethe connector leads 1122, 1124. In the illustrated embodiment and infunctionally similar embodiments, the insulation 1126, 1128 may take theform of plastic or other insulating shrink tubes positions over all orpart of the leads 1122, 1124. In some embodiments, the insulation 1126,1128 may comprise a TEFLON or other insulating coating applied toportions of the leads 1122, 1124 and/or surrounding material.

FIG. 151 illustrates a cross-sectional view of an alternate embodimentof an end effector 1140 and shaft assembly 1142 showing another contextin which a rotary connector assembly 1147 may utilized. The end effector1140 may comprise jaw members 1146A, 1146B that may operate similar tothe jaw members 3008A, 3008B, 602A, 602B, etc., described herein above.For example, the jaw members 1146A, 1146B may be actuated by an I-beammember 1156 that, in the illustrated embodiment, may comprise a cuttingedge 1148 for severing tissue between the jaw members 1146A, 1146B. TheI-beam member 1156 may be driven distally and proximally by rotation ofa threaded I-beam member shaft 1154. The I-beam member shaft 1154 may berotated via a main drive shaft 1149. For example, the main drive shaft1149 may be coupled to a gear 1150. The gear 1150 may be in mechanicalcommunication with a gear 1152 coupled to the I-beam member shaft 1154as illustrated.

The end effector 1140 may comprise an electrode 1158 that may operate ina manner similar to that of electrode 1112, etc., described hereinabove. An insulated lead 1160 may be electrically coupled to theelectrode 1158 and may extend proximally to an outer contact 1162. Theouter contact 1162 may be positioned on an inner wall of a shaft member1141 in a manner similar to that in which the contact 1102 is coupled tothe inner wall 1108 of the end effector drive housing 608. A innercontact 1164 (e.g., brush) may be positioned around the main drive shaft1149 such that the brush 1164 is in electrical contact with the contact1162. The brush 1164 may also be in electrical contact with a conductivesleeve 1166 positioned around the main drive shaft 1149. The sleeve 1166may be electrically isolated from the main drive shaft 1149 and from theremainder of the shaft 1142, for example, by insulators 1168, 1170.

It will be appreciated that the rotary electrode assembly 1100 may beutilized with any of the end effector and/or shaft assembly embodimentsdescribed herein. For example, FIG. 152 illustrates a cross-sectionalview of one embodiment of the end effector and shaft assembly of FIGS.83-91 illustrating another example installation of a rotary electrodeassembly 1100 including the outer contact 1102 and inner contact 1103 asdescribed herein.

FIGS. 153-168 illustrate various embodiments of an electrosurgical endeffector 700 comprising a proximal tissue treatment zone 706 and adistal tissue treatment zone 708. The proximal tissue treatment zone 706utilizes various electrodes and cutting edges to treat tissue, forexample, as described herein above with respect to end effector 3000shown in FIGS. 6-10. Treatment provided by the proximal tissue treatmentzone 706 may include, for example, clamping, grasping, transsection,coagulation, welding, etc. The distal tissue treatment zone 708 may alsocomprise one or more electrodes 742 and may be utilized to applytreatment to tissue and, in some embodiments, to perform other surgicaltasks such as grasping and manipulating suturing needles and/or othersurgical implements.

FIG. 153 illustrates one embodiment of the end effector 700. The endeffector 700 may be utilized with various surgical tools including thosedescribed herein. As illustrated, the end effector 700 comprises a firstjaw member 720 and a second jaw member 710. The first jaw member 720 maybe movable relative to the second jaw member 710 between open positions(shown in FIGS. 153-156) and closed positions (shown in FIGS. 166 and165). For example, the jaw members 720, 710 may be pivotably coupled ata pivot point 702. The jaw members 710, 720 may be curved with respectto a longitudinal tool axis “LT,” as illustrated. In some embodiments,the jaw members 710, 720 may be instead straight, as illustrated withrespect to jaw members 3008A, 3008B shown in FIGS. 6-8. In use, the endeffector 700 may be transitioned from an open position to a closedposition to capture tissue between the jaw members 720, 710. The tissuecaptured between the jaw members 720, 710 may be clamped or graspedalong portions of the jaw members 710, 720 for application of one ormore tissue treatments such as transection, welding, dissection, andelectrocauterization.

The proximal tissue treatment zone 706 of the end effector 700 may treattissue in a manner similar to that described above with respect to theend effector 3000. Tissue between the jaw members 720, 710 in theproximal treatment zone may be secured in place, for example, by teeth734 a, 734 b. See, e.g., FIGS. 154-159. In the proximal tissue treatmentzone 706, the jaw members 720, 710 may each define respectivelongitudinal channels 812, 810. An I-beam member 820 (FIGS. 155 and 159)may traverse distally and proximally within the longitudinal channels812, 810, for example, as described herein above with respect to the endeffector 3000 and axially movable member 3016. In some embodiments,distal and proximal translation of the I-beam member 820 may alsotransition the jaw members 720, 710 between open and closed positions.For example, the I-beam member 820 may comprise flanges positioned tocontact cam surfaces of the respective jaw members 720, 710, similar tothe manner in which flanges 3016A, 3016B contact cam surfaces 3026A,3026B in the embodiment described with respect to FIGS. 6-10. The I-beammember 820 may also define a distally directed cutting element 822 thatmay transect tissue between the jaw members 720, 710 as the I-beammember 820 advances distally. In some embodiments, the jaw members 720,710 may comprise tissue-contacting surfaces 730 a, 730 b, 732 a, 732 bsimilar to the tissue-contacting surfaces 504A, 504B, 506A, 506Bdescribed herein above with respect to FIGS. 132-137.

The proximal tissue treatment zone 706 may additionally comprise variouselectrodes and/or current paths for providing electrosurgical (RF)and/or other energy to tissue. The second jaw member 710 may comprise asupply electrode 848 positioned around the channel 810. See e.g., FIGS.153-155 and 157. The supply electrode 848 may be in electricalcommunication with a generator for providing RF energy, such as thegenerator 3002 described herein above. For example, the supply electrode848 may be coupled to one or more supply connector leads 846. The supplyconnector leads 846 may extend distally through a shaft assembly to atool interface 302 and/or handle 2500 and ultimately to a generator,such as the generator 3002 or an internal generator, as describedherein. The supply electrode 848 may be electrically insulated fromother elements of the end effector 700. For example, referring to FIG.10, the supply electrode (indicated on either side of the channel 810 by848 a and 848 b) may be positioned on an insulating layer 844 (againindicated on either side of the channel 810 by 844 a, 844 b). Theinsulating layer 844 may be made of any suitable insulating material,such as ceramic, TEFLON, etc. In some embodiments, the insulating layer844 may be applied as a coating to the jaw member 810. The supplyelectrode 848 may operate in conjunction with a return path to applybipolar RF energy to tissue, such as tissue 762 shown in FIG. 159.Current provided via the supply electrode 848 may flow through thetissue 762 and return to the generator via the return path. The returnpath may comprise various electrically conducting components of the endeffector 700. For example, in some embodiments, the return path maycomprise bodies of the first and second jaws 720, 710, the I-beam member820, the tissue-contacting surfaces 730 a, 730 b, 732 a, 732 b, etc.

In the illustrated embodiments, the supply electrode 848 is offset fromthe return path. For example, the supply electrode 848 is positionedsuch that when the jaw members 720, 710 are in the closed positionillustrated in FIG. 159, the electrode 848 is not in electrical contact(e.g., physical contact) with conductive portions of the end effector700 that may serve and a return path for RF current. For example, thefirst jaw member 720 may comprise an opposing member 878 (indicated inFIG. 159 as 878 a and 878 b on either side of the channel 812)positioned opposite the electrode 848 such that upon closure of the jawmembers 720, 710, the electrode 848 is in direct contact with theopposing member 878 and not with any other portions of the end effector700. The opposing member 878 may be electrically insulating. In thisway, it may be possible to close the jaw members 720, 710 withoutshorting the supply electrode 848 to the return path. In someembodiments, the opposing member 878 may be selectively insulating. Forexample, the opposing member 878 may comprise a positive temperaturecoefficient (PTC) body, as described above, that is conductive below atemperature threshold (e.g., about 100° C.) and insulating at highertemperatures. In this way, the opposing member 878 may form part of thereturn path, but only until its temperature exceeds the temperaturethreshold. For example, if the supply electrode 848 were to beelectrically shorted to an opposing member 878 comprising PTC or asimilar material, the short would quickly drive the temperature of theopposing member 878 about the threshold, thus relieving the short.

The distal tissue treatment zone 708 may define distal grasping surfaces790 a, 790 b positioned on jaw members 710, 720, respectively. Thedistal grasping surfaces 790 a, 790 b may be positioned distally fromthe proximally treatment zone 706. The distal grasping surfaces 790 a,790 b may, in some embodiments, be configured to grasp and hold tissue.For example, the distal grasping surfaces 790 a, 790 b may comprise gripelements 741 for increasing friction between the grasping surfaces 790a, 790 b and tissue and/or surgical implements, as described hereinbelow. The grip elements 741 may comprise any suitable texture definedby the surfaces 790 a, 790 b, a friction enhancing coating applied tothe surfaces 790 a, 790 b, etc.

In some embodiments, the distal tissue treatment zone 708 may also beconfigured to apply monopolar and/or bipolar electrosurgical (e.g., RF)energy. For example, the surface 790 a may be and/or comprise a distalsupply electrode 742. For example, the surface 790 a itself may be madefrom a conductive material and therefore be the distal supply electrode742. In some embodiments, as described herein, the conductive electrode742 may comprise a conductive material coupled to an insulating layer845. The insulating layer 845 may be a dielectric layer and/or a coatingapplied to the jaw member 710. The distal supply electrode 742 may be inelectrical contact with a generator, such as the generator 3002described herein above and/or an internal generator. In someembodiments, the distal supply electrode 742 may be in electricalcontact with the supply electrode 848 of the proximal tissue treatmentzone 706. In this way, the distal supply electrode 742 may be energizedwhen the proximal supply electrode 848 is energized. In someembodiments, the distal supply electrode 742 may be energizedindependent of the proximal supply electrode 848. For example, thedistal supply electrode 742 may be coupled to the generator via adedicated supply line (not shown).

A return path for electrical energy provided by the distal supplyelectrode 742 may also comprise any suitable conductive portion of theend effector including, for example, the jaw member 710, the jaw member720, the I-beam member 820, etc. In some embodiments, the distalgrasping surface 790 b may also form a distal return electrode 748 thatmay be part of the return path from the distal supply electrode 742. Forexample, the distal return electrode 748 may be in electrical contactwith the jaw member 720 that may, in turn, be in electrical contact witha generator such as the generator 3000. The distal return electrode 748may be formed in any suitable manner. For example, the surface 790 b maybe conductive, thus forming the electrode 748. In some embodiments, aconductive material may be applied to the surface 790 b, where theconductive material makes up the electrode 748.

In the illustrated embodiments, the distal supply electrode 742 is notoffset. For example, the distal supply electrode 742 is aligned with thereturn electrode 748. Accordingly, the end effector 700 may beconfigured such that the distal supply electrode 742 does not come intocontact with the return electrode 748 when the jaw members 720, 710 arein the closed position. For example, a gap 780 may exist between thedistal supply electrode 742 and the distal return electrode 748 when thejaw members 720, 710 are in a closed position. The gap 780 is visible inFIGS. 160, 161, 162, 163, 164 and 165.

In various embodiments, the gap 780 may be generated as a result of thedimensions (e.g., thickness) of various components of the proximaltissue treatment zone 706. For example, when the opposing member 878 andthe proximal supply electrode 848 may extend towards the axis LT suchthat when the electrode 848 and member 878 are in physical contact withone another (e.g., when the jaw members 720, 710 are in the closedposition), the distal grasping surfaces 790 a,b are not in physicalcontact with one another. Any suitable combination of the opposingmember 878, the supply electrode 848 and the insulating layer 844 may beutilized to bring about this result.

Referring now to FIGS. 160, 163 and 164, the insulating layer 844 andthe insulating layer 845 may be continuous (e.g., form a continuousinsulating layer). Similarly, the proximal supply electrode 848 anddistal supply electrode 742 may be continuous (form a continuouselectrode). The opposing member 878 is also illustrated. As illustrated,the electrode 848 (e.g., the portion of the continuous electrode in theproximal zone 706) is thicker than the electrode 742. Accordingly, whenthe electrode 848 contacts the opposing member 878, the thickness of theelectrode 848 may prevent the distal grasping surfaces 790 a,b fromcontacting one another, thus forming the gap 780. FIG. 161 illustratesan alternative embodiment of the end effector 700 where the electrode742 and the electrode 848 are of the same thickness. The thickness ofthe opposing member 878, however, is selected such that when theelectrode 848 contacts the opposing member 878, the distal graspingsurfaces 790 a,b do not contact one another, forming the gap 780. FIG.162 illustrates another embodiment where the insulating layer 844 isthicker than the insulating layer 845, thus preventing contact betweenthe distal grasping surfaces 790 a, b and forming the gap 780.

In some embodiments, the distal supply electrode 742 may extend distallyto a portion of a distal edge 886 of the jaw member 710. For example,FIG. 153 shows a distal electrode portion 744. The distal electrodeportion 744 may be utilized by a clinician to apply electrosurgicalenergy to tissue that is not necessarily between the jaw members 720,710. In some embodiments, the distal electrode portion 744 may beutilized to provide bipolar and/or monopolar cauterization. In bi-polarembodiments, the distal electrode portion 744 may utilize a return pathsimilar to the return paths described herein. In some embodiments, therespective jaw members may comprise external depressions and/orprotrusions 800, 802 similar to the protrusions described herein withrespect to FIGS. 116-131. The depressions and/or protrusions 800, 802may be conductive and may provide possible return paths for currentpassed via the distal electrode portion 744. In some embodiments wherethe distal electrode portion 744 is present, the insulating layer 845may extend distally under the distal electrode portion, as shown in FIG.164.

It will be appreciated that the length of the respective tissuetreatment zones 706, 708 may vary with different implementations. Forexample, FIG. 165 shows an embodiment where the distal tissue treatmentzone 708 is relatively shorter than the zone 708 shown in the otherfigures. For example, in FIG. 165, the distal tissue treatment zone 708extends proximally by a lesser distance from the distal tip of the endeffector 700 than the zones 708 illustrated elsewhere.

In some embodiments, the distal tissue treatment zone 708 may beutilized as a general surgical grasper. For example, the distal graspingsurfaces 790 a,b may be utilized to grasp and manipulate tissue. Also,in some embodiments, the distal grasping surfaces 790 a,b, may beutilized to grasp and manipulate artificial surgical implements such asneedles, clips, staples, etc. For example, FIGS. 160, 161, 162 and 163show a surgical implement 896 secured between the distal graspingsurfaces 790 a, b. In FIGS. 160, 161 and 162 the surgical implement 896has a round cross-section (e.g., a suturing needle). In FIG. 163, thesurgical implement 896 has a non-round cross-section (e.g., a trailingend of a suturing needle, a clip, etc.). When used as a grasper, thedistal treatment zone 708 may or may not apply electrosurgical energy toobjects between the tissue surfaces 790 a,b. For example, it may not bedesirable to apply electrosurgical energy to a needle or other surgicalimplement.

It will be appreciated that, as described above, some components of theproximal tissue treatment zone 706 may be common and/or continuous withsome components of the distal tissue treatment zone 708. For example,FIG. 167 illustrates one embodiment of the jaw member 710 with theelectrodes 878, 742 removed to illustrate the insulating layers 845,844. As illustrated, the insulating layers 845, 844 define a common,continuous layer 899. A distal portion of the continuous layer 899 maymake up the insulating layer 845 while a proximal portion of theinsulating layer 899 may make up the insulating layer 844. Theinsulating layer 844, as illustrated, defines a notch 897 correspondingto the channel 810, as shown, such that the I-beam member 820 maytraverse the channel 810 without contacting the continuous layer 899.Also, as illustrated, the insulating layer 845 defines a distal portion843 that extends over a part of the distal end 886 of the jaw member710. The distal portion 843, for example, may be positioned under thedistal electrode portion 744.

FIG. 166 illustrates an embodiment of the jaw member 710, as illustratedin FIG. 167, with the electrodes 742, 848 installed. As illustrated, theproximal supply electrode may comprise regions 850 a, 850 b, 850 c.Regions 850 a and 850 b are positioned on either side of the channel810. Region 850 c is positioned distal from a distal-most portion of thechannel 810. FIG. 168 illustrates an alternate embodiment where thethird region 850 c is omitted. Accordingly, first and second regions 850a, 850 b of the electrode 848 extend distally to the distal supplyelectrode 742.

Non-Limiting Examples

In various embodiments, a surgical instrument can comprise an endeffector and a shaft assembly coupled proximal to the end effector. Theend effector comprises a first jaw member, a second jaw member, and aclosure mechanism configured to move the first jaw member relative tothe second jaw member between an open position and a closed position.The shaft assembly comprises an articulation joint configured toindependently articulate the end effector in a vertical direction and ahorizontal direction. The surgical instrument also comprises at leastone active electrode disposed on at least one of the first jaw memberand the second jaw member. The at least one active electrode isconfigured to deliver RF energy to tissue located between the first jawmember and the second jaw member when in the closed position.

In various embodiments, a surgical instrument can comprise an endeffector and a shaft assembly coupled proximal to the end effector. Theend effector comprises a first jaw member, a second jaw member, and aclosure mechanism configured to move the first jaw member relative tothe second jaw member between an open position and a closed position.The shaft assembly comprises a head rotation joint configured toindependently rotate the end effector. The surgical instrument alsocomprises at least one active electrode disposed on at least one of thefirst jaw member and the second jaw member. The at least one activeelectrode is configured to deliver RF energy to tissue located betweenthe first jaw member and the second jaw member when in the closedposition.

A surgical tool can comprise an end effector, comprising a first jawmember, a second jaw member and a closure mechanism configured to movethe first jaw member relative to the second jaw member between an openposition and a closed position. The surgical tool further comprises ashaft assembly proximal to the surgical end effector, wherein thesurgical end effector is configured to rotate relative to the shaftassembly, and a rotary drive shaft configured to transmit rotarymotions. The rotary drive shaft is selectively movable axially between afirst position and a second position relative to the shaft assembly,wherein the rotary drive shaft is configured to apply the rotary motionsto the closure mechanism when in the first axial position, and whereinthe rotary drive shaft is configured to apply the rotary motions to theend effector when in the second axial position. In addition, the closuremechanism of the surgical tool comprises an I-beam member configured totranslate in an axial direction to cam the first jaw member toward tothe second jaw member. The I-beam member is connected to a threadedrotary drive member coupled to a rotary drive nut, wherein the rotarydrive shaft is configured to engage with the rotary drive nut totransmit rotary motions to the rotary drive nut. Rotary motions of therotary drive nut actuate translation of the threaded rotary drive memberand the I-beam in the axial direction. Furthermore, the first jaw memberand the second jaw member comprise channels configured to slidablyengage with the I-beam member, wherein rotary motions of the rotarydrive nut actuate translation of the I-beam in the channels between aproximally retracted position and a distally advanced position.

A surgical tool can comprise an end effector, comprising a first jawmember, a second jaw member, and a first actuation mechanism configuredto move the first jaw member relative to the second jaw member betweenan open position and a closed position. The surgical tool furthercomprises a shaft assembly proximal to the surgical end effector, and arotary drive shaft configured to transmit rotary motions. The rotarydrive shaft is selectively moveable between a first position and asecond position relative to the shaft assembly, wherein the rotary driveshaft is configured to engage and selectively transmit the rotarymotions to the first actuation mechanism when in the first position, andwherein the rotary drive shaft is configured to disengage from theactuation mechanism when in the second position. In addition, the firstactuation mechanism comprises an I-beam member configured to translatein an axial direction to cam the first jaw member toward to the secondjaw member, the I-beam member connected to a threaded rotary drivemember coupled to a rotary drive nut, wherein the rotary drive shaft isconfigured to engage with the rotary drive nut to transmit rotarymotions to the rotary drive nut, and wherein rotary motions of therotary drive nut actuate translation of the threaded rotary drive memberand the I-beam in the axial direction. Furthermore, the first jaw memberand the second jaw member comprise channels configured to slidablyengage with the I-beam member, and wherein rotary motions of the rotarydrive nut actuate translation of the I-beam in the channels between aproximally retracted position and a distally advanced position.

A surgical tool can comprise an end effector comprising a first jawmember, and a second jaw member, wherein the first jaw member is movablerelative to the second jaw member between an open position and a closedposition. The surgical tool also comprises first and second actuationmechanisms, and a clutch member configured to selectively engage andtransmit rotary motion to either the first or the second actuationmechanism. In addition, the first actuation mechanism comprises anI-beam member configured to translate in an axial direction to cam thefirst jaw member toward the second jaw member, the I-beam memberconnected to a threaded rotary drive member coupled to a rotary drivenut, wherein the clutch member is configured to engage with the rotarydrive nut to transmit rotary motions to the rotary drive nut, andwherein rotary motions of the rotary drive nut actuates translation ofthe threaded rotary drive member and the I-beam in the axial direction.Furthermore, the first jaw member and the second jaw member comprisechannels configured to slidably engage with the I-beam member, andwherein rotary motions of the rotary drive nut actuate translation ofthe I-beam in the channels between a proximally retracted position and adistally advanced position.

A surgical tool can comprise an interchangeable end effector, a handleassembly and a shaft assembly. The interchangeable end effectorcomprises a first jaw member including a first electrode and a secondjaw member including a second electrode. The first jaw member ismoveable relative to the second jaw member between a first position anda second position. The handle assembly is proximal to said surgical endeffector. The shaft assembly extends between the handle assembly and theinterchangeable end effector. The shaft assembly comprises a rotarydrive shaft configured to transmit rotary motions. The rotary driveshaft is selectively axially moveable relative to the shaft assemblybetween a plurality of discrete positions. A coupling arrangement canreleasably attach the interchangeable end effector to the shaftassembly.

A surgical tool can comprise an interchangeable end and a shaftassembly. The interchangeable end may comprise a first jaw memberincluding a first electrode, a second jaw member including a secondelectrode, a closure mechanism configured to move the first jaw memberrelative to the second jaw member between a first position and a secondposition, and an actuation driver configured to drive the closuremechanism. The shaft assembly extends proximal to the interchangeableend effector and comprises a rotary drive shaft configured to transmitrotary motions to the actuation driver. A coupling arrangement canreleasable attach the interchangeable end effector to the shaftassembly.

A surgical tool can comprise, an interchangeable end effector and ashaft assembly. The end effector comprises a first jaw member includinga first electrode, a second jaw member including a second electrode, aclosure mechanism configured to move the first jaw member relative tothe second jaw member between a first position and a second position,and an actuation driver configured to drive the closure mechanism. Theshall assembly extends proximal to the interchangeable end effector andcomprises a rotary drive shaft configured to transmit rotary motions.The interchangeable end effector is releasably attached to the shaftassembly. The rotary drive shaft is selectively extendable axially tooperably engage and transmit the rotary motions to the actuation driver.

A surgical end effector can comprise a first jaw member and a second jawmember. The first jaw member defines an exterior surface on a distalportion thereof. The second jaw member defines an exterior surface on adistal portion thereof. The first jaw member is moveable relative to thesecond jaw member between a first position and a second position. Atleast one of the exterior surfaces of the first and second jaw membersincludes a tissue gripping portion.

A surgical tool can comprise a surgical end effector, a handle assemblyand a drive shaft. The surgical end effector comprises a first jawmember defining an exterior surface on a distal portion thereof and asecond jaw member defining an exterior surface on a distal portionthereof. The first jaw member is moveable relative to the second jawmember between a first position and a second position. At least one ofthe exterior surfaces of the first and second jaw member includes atissue gripping portion. The handle assembly is proximal to saidsurgical end effector. The drive shaft extends between said surgical endeffector and said handle assembly and is configured to move the firstjaw relative to the second jaw between the first position and the secondposition in response to actuation motions in the handle.

A surgical tool can comprise an actuation system, a surgical endeffector and a shaft assembly. The actuation system is for selectivelygenerating a plurality of control motions. The surgical end effector isoperably coupled to said actuation system and comprises a first jawmember and a second jaw member. The first jaw member defines an exteriorsurface on a distal portion thereof. The second jaw member defines anexterior surface on a distal portion thereof. The first jaw member ismovably supported relative to the second jaw member between an openposition and a closed position in response to closure motions generatedby said actuation system. At least one of the exterior surfaces of thefirst and second jaw members includes a tissue adhering portion. Theshaft assembly is for transmitting said plurality of control motions tothe surgical end effector.

An end effector can comprise a first jaw member and a second jaw member.The first jaw member is movable relative to the second jaw memberbetween an open position and a closed position. The first jaw membercomprises a first positively-angled tissue-contacting surface. Thesecond jaw member comprises a second positively-angled tissue-contactingsurface. At least one of the first jaw member and the second jaw membercomprises at least one active electrode disposed on the jaw memberadjacent to the positively-angled tissue-contacting surface. The atleast one active electrode is configured to deliver RF energy to tissuelocated between the first jaw member and the second jaw member when inthe closed position.

An end effector can comprise a first jaw member and a second jaw member.The first jaw member is movable relative to the second jaw memberbetween an open position and a closed position. The first jaw membercomprises a first positively-angled tissue-contacting surface and afirst negatively-angled tissue-contacting surface. The second jaw membercomprises a second positively-angled tissue-contacting surface and asecond negatively-angled tissue-contacting surface. The firstpositively-angled tissue-contacting surface opposes the secondnegatively-angled tissue-contacting surface when the first and secondjaw members are in the closed position. The first negatively-angledtissue-contacting surface opposes the second positively-angledtissue-contacting surface when the first and second jaw members are inthe closed position.

An end effector can comprise a first jaw member and a second jaw member.The first jaw member is movable relative to the second jaw memberbetween an open position and a closed position. The first jaw membercomprises a first proximal tissue-contacting portion, a first distaltextured portion adjacent to the first proximal tissue-contactingportion, a first positively-angled tissue-contacting surface disposedalong the first proximal tissue-contacting portion, and at least onefirst electrode located in the first proximal tissue-contacting portionadjacent to the first positively-angled tissue-contacting surface. Thesecond jaw member comprises a second proximal tissue-contacting portion,a second distal textured portion adjacent to the second proximaltissue-contacting portion, a second positively-angled tissue-contactingsurface disposed along the second proximal tissue-contacting portion,and at least one second electrode located in the second proximaltissue-contacting portion adjacent to the second positively-angledtissue-contacting surface. The at least one first electrode and the atleast one second electrode are in a bipolar configuration to deliver RFenergy to tissue located between the first jaw member and the second jawmember when in the closed position.

A surgical tool can comprise an end effector. The end effector cancomprise first and second jaw members, a shaft assembly, a rotatabledrive shaft, a first electrical contact and a second electrical contact.The first and second jaw members are pivotable relative to one anotherfrom an open position to a closed position. An electrode is positionedon the first jaw member. The shaft assembly extends proximally from theend effector, is at least partially hollow, and defines an inner wall.The rotatable drive shaft extends proximally within the shaft assembly.The first electrical contact is coupled to the inner wall of the shaftassembly and positioned around at least a portion of the drive shaft.The second electrical contact is coupled to and rotatable with the driveshaft. The second electrical contact is positioned to be electricallyconnected to the first electrical contact as the drive shaft rotates.

A surgical end effector for use with a surgical tool can comprise afirst jaw member and a second jaw member. The second jaw member ispivotable relative to the first jaw member from a first open position toa closed position, where the first and second jaw members aresubstantially parallel in the closed position. The second jaw membercomprises an offset proximal supply electrode and a distal supplyelectrode. The offset proximal supply electrode is positioned to contactan opposing member of the first jaw member when the first and second jawmembers are in the closed position. The distal supply electrode ispositioned distal of the offset proximal electrode and is aligned with aconductive surface of the first jaw member when the first and second jawmembers are in the closed position. When the first and second jawmembers are in the closed position, the proximal supply electrode is incontact with the opposing member and the distal supply electrode is notin contact with the conductive surface of the first jaw member.

A surgical end effector for use with a surgical tool can comprise firstand second jaw members pivotable from a first open position to a closedposition. The first and second jaw members define a proximal tissuetreatment region and distal tissue treatment region. The second jawmember comprises, in the proximal tissue treatment region, an offsetproximal supply electrode positioned such that when the jaw members arein the closed position the proximal supply electrode is in physicalcontact with the first jaw member and is not in electrical contact withthe first jaw member. The second jaw member further comprises, in thedistal tissue treatment region, a distal supply electrode positionedsuch that when the jaw members are in the closed position, the distalsupply electrode is aligned with a conductive surface of the first jawmember. When the jaw members are in the closed position, the jaw membersdefine a physical gap between the distal supply electrode and theconductive surface of the first jaw member.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Although the present invention has been described herein in connectionwith certain disclosed example embodiments, many modifications andvariations to those example embodiments may be implemented. For example,different types of end effectors may be employed. Also, where materialsare disclosed for certain components, other materials may be used. Theforegoing description and following claims are intended to cover allsuch modification and variations.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A robotic system, comprising: a roboticmanipulator; a generator; an electrosurgical tool configured toelectrically communicate with the generator, the electrosurgical toolcomprising: a tool mounting portion; an elongate shaft assembly that isoperably couplable to the robotic manipulator by the tool mountingportion; an articulation joint extending distally from the elongateshaft assembly, wherein the articulation joint comprises: a proximaljoint portion coupled to the elongate shaft assembly; and a distal jointportion movably coupled to the proximal joint portion, wherein thedistal joint portion is movable in a plurality of planes relative to theproximal joint portion; and a distal interface portion extending fromthe distal joint portion; and an interchangeable end effector releasablycouplable to the electrosurgical tool, comprising: a proximal interfaceportion releasably couplable to the distal interface portion of theelectrosurgical tool to couple the interchangeable end effector to theelectrosurgical tool; a first curved jaw member, comprising: a first jawbody extending longitudinally along a length of the first jaw member,the first jaw body comprising: a first planar tissue gripping surface; afirst positively-angled tissue-contacting surface extending from thefirst planar tissue gripping surface away from the first jaw body; and afirst negatively-angled tissue-contacting surface extending from thefirst planar tissue gripping surface toward the first jaw body; a secondcurved jaw member, wherein at least one of the first jaw member and thesecond jaw member is movable relative to the other one of the first jawmember and the second jaw member between an open position and a closedposition to capture tissue therebetween, and wherein the end effector isconfigured to deliver RF energy generated by the generator to the tissuecaptured between the first jaw member and the second jaw member, andwherein the second jaw member comprises: a second jaw body extendinglongitudinally along a length of the second jaw member, the second jawbody comprising: a second planar tissue gripping surface; and a secondpositively-angled tissue-contacting surface extending from the secondplanar tissue gripping surface away from the second jaw body and towardthe first jaw body.
 2. The robotic system of claim 1, wherein the firstplanar tissue gripping surface intersects the first positively-angledtissue-contacting surface at an angle greater than 15°.
 3. The roboticsystem of claim 2, wherein the second planar tissue gripping surfaceintersects the second positively-angled tissue-contacting surface at anangle greater than 15°.
 4. The robotic system of claim 1, wherein thefirst planar tissue gripping surface intersects the firstnegatively-angled tissue-contacting surface at an angle greater than15°.
 5. The robotic system of claim 1, the first negatively-angledtissue-contacting surface is configured to oppose the secondpositively-angled tissue-contacting surface in the closed position. 6.The robotic system of claim 5, wherein the second jaw body furthercomprises a second negatively-angled tissue-contacting surface extendingfrom the second planar tissue gripping surface away from the first jawbody.
 7. The robotic system of claim 6, the second negatively-angledtissue-contacting surface is configured to oppose the firstpositively-angled tissue-contacting surface in the closed position. 8.The robotic system of claim 7, wherein the first positively-angledtissue-contacting surface is parallel to the first negatively-angledtissue-contacting surface, and wherein the second positively-angledtissue-contacting surface is parallel to the second negatively-angledtissue-contacting surface.
 9. The robotic system of claim 6, wherein thesecond planar tissue gripping surface intersects the secondnegatively-angled tissue-contacting surface at an angle greater than15°.
 10. The robotic system of claim 1, wherein the tool mountingportion includes a tool mounting plate that operably supports aplurality of rotatable body portions.
 11. A surgical assembly operablewith a robotic system that includes a robotic manipulator and agenerator, the surgical assembly, comprising: an electrosurgical toolconfigured to electrically communicate with the generator, theelectrosurgical tool comprising: a tool mounting portion; an elongateshaft assembly that is operably couplable to the robotic manipulator bythe tool mounting portion; an articulation joint extending distally fromthe elongate shaft assembly, wherein the articulation joint comprises: aproximal joint portion coupled to the elongate shaft assembly; and adistal joint portion movably coupled to the proximal joint portion,wherein the distal joint portion is movable in a plurality of planesrelative to the proximal joint portion; and a distal interface portionextending from the distal joint portion; and an interchangeable endeffector releasably couplable to the electrosurgical tool, comprising: aproximal interface portion releasably couplable to the distal interfaceportion of the electrosurgical tool to couple the interchangeable endeffector to the electrosurgical tool; a first curved jaw member,comprising: a first jaw body extending longitudinally along a length ofthe first jaw member, the first jaw body comprising: a first planartissue gripping surface; a first positively-angled tissue-contactingsurface extending from the first planar tissue gripping surface awayfrom the first jaw body; and a first negatively-angled tissue-contactingsurface extending from the first planar tissue gripping surface towardthe first jaw body; a second curved jaw member, wherein at least one ofthe first jaw member and the second jaw member is movable relative tothe other one of the first jaw member and the second jaw member betweenan open position and a closed position to capture tissue therebetween,and wherein the end effector is configured to deliver RF energygenerated by the generator to the tissue captured between the first jawmember and the second jaw member, and wherein the second jaw membercomprises: a second jaw body extending longitudinally along a length ofthe second jaw member, the second jaw body comprising: a second planartissue gripping surface; and a second positively-angledtissue-contacting surface extending from the second planar tissuegripping surface away from the second jaw body and toward the first jawbody.
 12. The surgical assembly of claim 11, wherein the first planartissue gripping surface intersects the first positively-angledtissue-contacting surface at an angle greater than 15°.
 13. The surgicalassembly of claim 12, wherein the second planar tissue gripping surfaceintersects the second positively-angled tissue-contacting surface at anangle greater than 15°.
 14. The surgical assembly of claim 11, whereinthe first planar tissue gripping surface intersects the firstnegatively-angled tissue-contacting surface at an angle greater than15°.
 15. The surgical assembly of claim 11, the first negatively-angledtissue-contacting surface is configured to oppose the secondpositively-angled tissue-contacting surface in the closed position. 16.The surgical assembly of claim 15, wherein the second jaw body furthercomprises a second negatively-angled tissue-contacting surface extendingfrom the second planar tissue gripping surface away from the first jawbody.
 17. The surgical assembly of claim 16, the secondnegatively-angled tissue-contacting surface is configured to oppose thefirst positively-angled tissue-contacting surface in the closedposition.
 18. The surgical assembly of claim 17, wherein the firstpositively-angled tissue-contacting surface is parallel to the firstnegatively-angled tissue-contacting surface, and wherein the secondpositively-angled tissue-contacting surface is parallel to the secondnegatively-angled tissue-contacting surface.
 19. The surgical assemblyof claim 16, wherein the second planar tissue gripping surfaceintersects the second negatively-angled tissue-contacting surface at anangle greater than 15°.
 20. A robotic system, comprising: a roboticmanipulator; a generator; and an electrosurgical tool configured toelectrically communicate with the generator, the electrosurgical toolcomprising: a tool mounting portion; an elongate shaft assembly that isoperably couplable to the robotic manipulator by the tool mountingportion; an articulation joint extending distally from the elongateshaft assembly, wherein the articulation joint comprises: a proximaljoint portion coupled to the elongate shaft assembly; and a distal jointportion movably coupled to the proximal joint portion, wherein thedistal joint portion is movable relative to the proximal joint portion;and a distal interface portion extending from the distal joint portion;and an end effector releasably coupled to the electrosurgical tool, theend effector comprising: a proximal interface portion coupled to thedistal interface portion of the electrosurgical tool; a first jawmember, comprising: a first jaw body extending longitudinally along alength of the first jaw member, the first jaw body comprising: a firstplanar tissue gripping surface; a first positively-angledtissue-contacting surface extending from the first planar tissuegripping surface away from the first jaw body; and a firstnegatively-angled tissue-contacting surface extending from the firstplanar tissue gripping surface toward the first jaw body; a second jawmember, wherein at least one of the first jaw member and the second jawmember is movable relative to the other one of the first jaw member andthe second jaw member between an open position and a closed position tograsp tissue, and wherein the end effector is configured to deliver RFenergy generated by the generator to the tissue grasped between thefirst jaw member and the second jaw member, and wherein the second jawmember comprises: a second jaw body extending longitudinally along alength of the second jaw member, the second jaw body comprising: asecond planar tissue gripping surface; and a second positively-angledtissue-contacting surface extending from the second planar tissuegripping surface away from the second jaw body and toward the first jawbody.
 21. A surgical assembly operable with a robotic system thatincludes a robotic manipulator and a generator, the surgical assembly,comprising: an electrosurgical tool configured to electricallycommunicate with the generator, the electrosurgical tool comprising: atool mounting portion; an elongate shaft assembly that is operablycouplable to the robotic manipulator by the tool mounting portion; anarticulation joint extending distally from the elongate shaft assembly,wherein the articulation joint comprises: a proximal joint portioncoupled to the elongate shaft assembly; and a distal joint portionmovably coupled to the proximal joint portion, wherein the distal jointportion is movable relative to the proximal joint portion; and a distalinterface portion extending from the distal joint portion; and an endeffector coupled to the electrosurgical tool, the end effectorcomprising: a proximal interface portion coupled to the distal interfaceportion of the electrosurgical tool; a first jaw member, comprising: afirst jaw body extending longitudinally along a length of the first jawmember, the first jaw body comprising: a first planar tissue grippingsurface; a first positively-angled tissue-contacting surface extendingfrom the first planar tissue gripping surface away from the first jawbody; and a first negatively-angled tissue-contacting surface extendingfrom the first planar tissue gripping surface toward the first jaw body;a second jaw member, wherein at least one of the first jaw member andthe second jaw member is movable relative to the other one of the firstjaw member and the second jaw member between an open position and aclosed position to grasp tissue, and wherein the end effector isconfigured to deliver RF energy generated by the generator to the tissuegrasped captured between the first jaw member and the second jaw member,and wherein the second jaw member comprises: a second jaw body extendinglongitudinally along a length of the second jaw member, the second jawbody comprising: a second planar tissue gripping surface; and a secondpositively-angled tissue-contacting surface extending from the secondplanar tissue gripping surface away from the second jaw body and towardthe first jaw body.